Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ArrowInvalid
Message: Mismatching child array lengths
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2951, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2461, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2486, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 547, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 83, in _generate_tables
pa_table = _recursive_load_arrays(h5, self.info.features, start, end)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 267, in _recursive_load_arrays
arr = _recursive_load_arrays(obj, features[path], start, end)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 267, in _recursive_load_arrays
arr = _recursive_load_arrays(obj, features[path], start, end)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 288, in _recursive_load_arrays
sarr = pa.StructArray.from_arrays(values, names=keys)
File "pyarrow/array.pxi", line 4385, in pyarrow.lib.StructArray.from_arrays
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: Mismatching child array lengthsNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
DexCraft demonstrations
Demonstrations for the six DexCraft tasks (xArm6 + LEAP hand, ManiSkill3). Tasks: SprayBottle-v1, Lighter-v1, Dispenser-v1, Pen-v1, Pliers-v1, Stapler-v1. Released with the paper From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation (CoRL 2026). See the DexCraft code repository for how to use them.
demos/<task>/teleop/ raw keyboard teleoperation (ManiSkill trajectory format, .h5 + .json)
demos/<task>/source/ MimicGen source demos: idle steps removed, goal relabelled to the final tool pose
trajectory_<i>.{h5,json} per-demo ManiSkill trajectories
merged_trajectory.{h5,json} all demos of the task
merged_trajectory_mimicgen.hdf5 robomimic format with MimicGen datagen_info (input to generation)
generated/<task>/ demos generated with MimicGen from the source demos (robomimic hdf5)
demo.hdf5 500 demos (training set)
demo_val.hdf5 200 demos (validation set)
Source demos use the control mode pd_ee_target_delta_pose_normalized; generated demos use
pd_ee_target_delta_pose.
Generated demos store simulator states, actions and MimicGen annotations, but no observations. Render point-cloud observations with the DexCraft code:
python scripts/mimicgen/dataset_states_to_obs.py --input generated/<task>/demo.hdf5 --output demo_obs.hdf5 --num_workers 8
Citation
@inproceedings{yuan2026grasps,
title={From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation},
author={Ying Yuan and Xinyu Liu and Sriram Krishna and David Held},
booktitle={Conference on Robot Learning (CoRL)},
year={2026},
note={To appear}
}
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