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: CastError
Message: Couldn't cast
action_boundary_padding: string
action_horizon: int64
audit: struct<checks: struct<all_six_phases_jittered: bool, contiguous_index: bool, corrected_target_consta (... 592 chars omitted)
child 0, checks: struct<all_six_phases_jittered: bool, contiguous_index: bool, corrected_target_constant_within_episo (... 360 chars omitted)
child 0, all_six_phases_jittered: bool
child 1, contiguous_index: bool
child 2, corrected_target_constant_within_episode: bool
child 3, episode_count: bool
child 4, frame_count: bool
child 5, local_frame_zero_at_episode_start: bool
child 6, noise_matches_reproducible_seed: bool
child 7, noise_radius_clipped: bool
child 8, noisy_target_changes_frame_to_frame: bool
child 9, rendered_goal_dot_matches_metadata_samples: bool
child 10, target_equals_corrected_plus_applied_noise: bool
child 11, target_native_in_bounds: bool
child 12, video_stream_contract: bool
child 1, data_sha256: string
child 2, video_sha256: struct<observation.images.video_left: string, observation.images.video_overhead_dot: string, observa (... 79 chars omitted)
child 0, observation.images.video_left: string
child 1, observation.images.video_overhead_dot: string
child 2, observation.images.video_overhead_raw: string
child 3, observation.images.video_right: string
baseline_plan_sha256: string
builder_version: string
conditioning: struct<arrow: bool, base: string, border_rgb: list<item
...
child 1, mean_radial_native_px: double
child 2, per_axis_std_native_px: list<item: double>
child 0, item: double
child 3, phase_label: string
child 4, radial_clip_fraction: double
child 5, 5: struct<frames: int64, mean_radial_native_px: double, per_axis_std_native_px: list<item: double>, pha (... 47 chars omitted)
child 0, frames: int64
child 1, mean_radial_native_px: double
child 2, per_axis_std_native_px: list<item: double>
child 0, item: double
child 3, phase_label: string
child 4, radial_clip_fraction: double
child 7, unclipped_expected_mean_radial_native_px: double
checks: struct<all_six_phases_jittered: bool, contiguous_index: bool, corrected_target_constant_within_episo (... 360 chars omitted)
child 0, all_six_phases_jittered: bool
child 1, contiguous_index: bool
child 2, corrected_target_constant_within_episode: bool
child 3, episode_count: bool
child 4, frame_count: bool
child 5, local_frame_zero_at_episode_start: bool
child 6, noise_matches_reproducible_seed: bool
child 7, noise_radius_clipped: bool
child 8, noisy_target_changes_frame_to_frame: bool
child 9, rendered_goal_dot_matches_metadata_samples: bool
child 10, target_equals_corrected_plus_applied_noise: bool
child 11, target_native_in_bounds: bool
child 12, video_stream_contract: bool
data_sha256: string
episodes: int64
rendered_goal_samples: int64
frames: int64
to
{'builder_version': Value('string'), 'checks': {'all_six_phases_jittered': Value('bool'), 'contiguous_index': Value('bool'), 'corrected_target_constant_within_episode': Value('bool'), 'episode_count': Value('bool'), 'frame_count': Value('bool'), 'local_frame_zero_at_episode_start': Value('bool'), 'noise_matches_reproducible_seed': Value('bool'), 'noise_radius_clipped': Value('bool'), 'noisy_target_changes_frame_to_frame': Value('bool'), 'rendered_goal_dot_matches_metadata_samples': Value('bool'), 'target_equals_corrected_plus_applied_noise': Value('bool'), 'target_native_in_bounds': Value('bool'), 'video_stream_contract': Value('bool')}, 'data_sha256': Value('string'), 'episodes': Value('int64'), 'frames': Value('int64'), 'noise': {'clipped_expected_mean_radial_native_px': Value('float64'), 'configured_radial_clip_native_px': Value('float64'), 'configured_sigma_native_px': Value('float64'), 'empirical_mean_radial_native_px': Value('float64'), 'empirical_per_axis_std_native_px': List(Value('float64')), 'empirical_radial_clip_fraction': Value('float64'), 'phase_stats': {'0': {'frames': Value('int64'), 'mean_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}, '1': {'frames': Value('int64'), 'mean_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}, '2': {'frames':
...
n_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}, '5': {'frames': Value('int64'), 'mean_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}}, 'unclipped_expected_mean_radial_native_px': Value('float64')}, 'phase_frame_counts': {'0': Value('int64'), '1': Value('int64'), '2': Value('int64'), '3': Value('int64'), '4': Value('int64'), '5': Value('int64')}, 'plan_sha256': Value('string'), 'rendered_goal_samples': Value('int64'), 'video_probes': {'observation.images.video_left': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}, 'observation.images.video_overhead_dot': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}, 'observation.images.video_overhead_raw': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}, 'observation.images.video_right': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}}, 'video_sha256': {'observation.images.video_left': Value('string'), 'observation.images.video_overhead_dot': Value('string'), 'observation.images.video_overhead_raw': Value('string'), 'observation.images.video_right': Value('string')}}
because column names don't match
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 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, 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 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, 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/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
action_boundary_padding: string
action_horizon: int64
audit: struct<checks: struct<all_six_phases_jittered: bool, contiguous_index: bool, corrected_target_consta (... 592 chars omitted)
child 0, checks: struct<all_six_phases_jittered: bool, contiguous_index: bool, corrected_target_constant_within_episo (... 360 chars omitted)
child 0, all_six_phases_jittered: bool
child 1, contiguous_index: bool
child 2, corrected_target_constant_within_episode: bool
child 3, episode_count: bool
child 4, frame_count: bool
child 5, local_frame_zero_at_episode_start: bool
child 6, noise_matches_reproducible_seed: bool
child 7, noise_radius_clipped: bool
child 8, noisy_target_changes_frame_to_frame: bool
child 9, rendered_goal_dot_matches_metadata_samples: bool
child 10, target_equals_corrected_plus_applied_noise: bool
child 11, target_native_in_bounds: bool
child 12, video_stream_contract: bool
child 1, data_sha256: string
child 2, video_sha256: struct<observation.images.video_left: string, observation.images.video_overhead_dot: string, observa (... 79 chars omitted)
child 0, observation.images.video_left: string
child 1, observation.images.video_overhead_dot: string
child 2, observation.images.video_overhead_raw: string
child 3, observation.images.video_right: string
baseline_plan_sha256: string
builder_version: string
conditioning: struct<arrow: bool, base: string, border_rgb: list<item
...
child 1, mean_radial_native_px: double
child 2, per_axis_std_native_px: list<item: double>
child 0, item: double
child 3, phase_label: string
child 4, radial_clip_fraction: double
child 5, 5: struct<frames: int64, mean_radial_native_px: double, per_axis_std_native_px: list<item: double>, pha (... 47 chars omitted)
child 0, frames: int64
child 1, mean_radial_native_px: double
child 2, per_axis_std_native_px: list<item: double>
child 0, item: double
child 3, phase_label: string
child 4, radial_clip_fraction: double
child 7, unclipped_expected_mean_radial_native_px: double
checks: struct<all_six_phases_jittered: bool, contiguous_index: bool, corrected_target_constant_within_episo (... 360 chars omitted)
child 0, all_six_phases_jittered: bool
child 1, contiguous_index: bool
child 2, corrected_target_constant_within_episode: bool
child 3, episode_count: bool
child 4, frame_count: bool
child 5, local_frame_zero_at_episode_start: bool
child 6, noise_matches_reproducible_seed: bool
child 7, noise_radius_clipped: bool
child 8, noisy_target_changes_frame_to_frame: bool
child 9, rendered_goal_dot_matches_metadata_samples: bool
child 10, target_equals_corrected_plus_applied_noise: bool
child 11, target_native_in_bounds: bool
child 12, video_stream_contract: bool
data_sha256: string
episodes: int64
rendered_goal_samples: int64
frames: int64
to
{'builder_version': Value('string'), 'checks': {'all_six_phases_jittered': Value('bool'), 'contiguous_index': Value('bool'), 'corrected_target_constant_within_episode': Value('bool'), 'episode_count': Value('bool'), 'frame_count': Value('bool'), 'local_frame_zero_at_episode_start': Value('bool'), 'noise_matches_reproducible_seed': Value('bool'), 'noise_radius_clipped': Value('bool'), 'noisy_target_changes_frame_to_frame': Value('bool'), 'rendered_goal_dot_matches_metadata_samples': Value('bool'), 'target_equals_corrected_plus_applied_noise': Value('bool'), 'target_native_in_bounds': Value('bool'), 'video_stream_contract': Value('bool')}, 'data_sha256': Value('string'), 'episodes': Value('int64'), 'frames': Value('int64'), 'noise': {'clipped_expected_mean_radial_native_px': Value('float64'), 'configured_radial_clip_native_px': Value('float64'), 'configured_sigma_native_px': Value('float64'), 'empirical_mean_radial_native_px': Value('float64'), 'empirical_per_axis_std_native_px': List(Value('float64')), 'empirical_radial_clip_fraction': Value('float64'), 'phase_stats': {'0': {'frames': Value('int64'), 'mean_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}, '1': {'frames': Value('int64'), 'mean_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}, '2': {'frames':
...
n_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}, '5': {'frames': Value('int64'), 'mean_radial_native_px': Value('float64'), 'per_axis_std_native_px': List(Value('float64')), 'phase_label': Value('string'), 'radial_clip_fraction': Value('float64')}}, 'unclipped_expected_mean_radial_native_px': Value('float64')}, 'phase_frame_counts': {'0': Value('int64'), '1': Value('int64'), '2': Value('int64'), '3': Value('int64'), '4': Value('int64'), '5': Value('int64')}, 'plan_sha256': Value('string'), 'rendered_goal_samples': Value('int64'), 'video_probes': {'observation.images.video_left': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}, 'observation.images.video_overhead_dot': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}, 'observation.images.video_overhead_raw': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}, 'observation.images.video_right': {'frames': Value('int64'), 'height': Value('int64'), 'r_frame_rate': Value('string'), 'width': Value('int64')}}, 'video_sha256': {'observation.images.video_left': Value('string'), 'observation.images.video_overhead_dot': Value('string'), 'observation.images.video_overhead_raw': Value('string'), 'observation.images.video_right': Value('string')}}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Pi0.7 cable-dot DAgger 3x, sigma-34 per-frame jitter
This LeRobot v3 training dataset contains 540 output episodes and 142758 frames for the six-stage three-holder cable-routing task.
The clean camera streams, observations, actions, round boundaries, and reviewed 3x DAgger mixture are inherited from the verified noise-8 baseline. The goal image uses a blue dot with a white border. Every frame in both placement and routing phases receives an independent, reproducible Gaussian target offset with sigma 34 native pixels per axis, clipped to radius 68 native pixels. Jitter is training-only; deployment renders the HLP-provided connector target without adding noise.
See contract.json and audit.json for exact semantics and content hashes.
- Downloads last month
- 38