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The dataset generation failed
Error code: DatasetGenerationError
Exception: TypeError
Message: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1531, in _prepare_split_single
for key, record in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 127, in _generate_examples
for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
for filename, f in tar_iterator:
^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
for x in self.generator(*self.args):
~~~~~~~~~~~~~~^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1405, in _iter_from_urlpath
with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 982, in xopen
file_obj = fs.open(paths[0], mode)
File "<string>", line 3, in open
File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
return self._mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
return self._execute_mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
result = effect(*args, **kwargs)
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 786, in wrapped
tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
~~~^^^^^^^^
TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1393, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1571, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
txt string | __key__ string | __url__ string |
|---|---|---|
The following AMP motion assets in assets/amp/motions were created from animations in the CMU dataset:
amp_humanoid_backflip.npy
amp_humanoid_cartwheel.npy
amp_humanoid_dance.npy
amp_humanoid_hop.npy
amp_humanoid_run.npy
amp_humanoid_walk.npy
The following CMU motion capture source da... | assets/licenses/amp_motions-acknowledgement | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
The nv_ant.xml asset is based on the ant.xml asset from OpenAI Gym:
https://github.com/openai/gym/blob/master/gym/envs/mujoco/assets/ant.xml
The MIT License
Copyright (c) 2016 OpenAI (https://openai.com)
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated do... | assets/licenses/ant-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
Copyright 2020, ANYbotics AG.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistribu... | assets/licenses/anymal_c-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
The files in this repository are licensed under the zlib license, except for the files under 'Extras' and examples/ThirdPartyLibs.
Bullet Continuous Collision Detection and Physics Library
http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the a... | assets/licenses/cartpole-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
The nut, bolt, peg, hole, and gear base plate assets are custom-designed, and distributed under the Isaac Gym Environments LICENSE.txt terms.
The gear and gear shaft assets are courtesy of NIST, with minor modifications to clearances: https://www.nist.gov/el/intelligent-systems-division-73500/robotic-grasping-and-mani... | assets/licenses/factory-acknowledgments | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as ... | assets/licenses/franka-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
The nv_humanoid.xml and humanoid_CMU_V2020.xml assets are based on assets from the DeepMind dm_control suite:
https://github.com/deepmind/dm_control/blob/master/dm_control/suite/humanoid.xml
https://github.com/deepmind/dm_control/blob/master/dm_control/suite/humanoid_CMU.xml
These assets are licensed under the Apa... | assets/licenses/humanoid-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
Ingenuity Helicopter visual 3D Model courtesy of NASA: https://mars.nasa.gov/resources/25043/mars-ingenuity-helicopter-3d-model/
| assets/licenses/ingenuity-acknowledgement | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
BSD 2-Clause License
Copyright (c) 2016-2019, Salvatore Virga - salvo.virga@tum.de, Marco Esposito - marco.esposito@tum.de
Technische Universität München
Chair for Computer Aided Medical Procedures and Augmented Reality
Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany
htt... | assets/licenses/kukaiiwa-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
# Fetch Robotics
The model of the [Fetch](http://fetchrobotics.com/platforms-research-development/) is based on [models provided by Fetch](https://github.com/fetchrobotics/fetch_ros/tree/indigo-devel/fetch_description). It was adapted and refined by OpenAI.
# ShadowHand
The model of the [ShadowHand](https://www.shadow... | assets/licenses/open_ai_assets-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
The [tray model](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data/tray) is licensed under the following term:
-------------------------------------
The files in this repository are licensed under the zlib license, except for the files under 'Extras' and examples/ThirdPartyLibs.... | assets/licenses/tray-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
Trifinger and associated models originally from: https://github.com/rr-learning/rrc_simulation
BSD 3-Clause License
Copyright (c) 2020 Max Planck Gesellschaft
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are ... | assets/licenses/trifinger-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
YCB models are licensed under the following term:
The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research
Berk C. Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, Aaron M. Dollar
This site provides the data for the YCB Object and Model set.
Related publications:
* B. C... | assets/licenses/ycb-LICENSE | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/concave | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/concavebackup | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/cube | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/cylinder | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/half-cube | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/half-cylinder | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/rect | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/blocks-more/triangle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/collision/README | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/collision/robotiq_arg2f_85_base_link | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/collision/robotiq_arg2f_85_inner_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/collision/robotiq_arg2f_85_inner_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/collision/robotiq_arg2f_85_outer_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/collision/robotiq_arg2f_85_outer_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/collision/robotiq_arg2f_base_link | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/cubic | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/robotiq_2f_85 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/textures/gripper-2f_BaseColor | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/textures/gripper-2f_Metallic | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/textures/gripper-2f_Normal | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/textures/gripper-2f_Roughness | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/visual/robotiq_arg2f_85_base_link | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/visual/robotiq_arg2f_85_inner_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/visual/robotiq_arg2f_85_inner_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/visual/robotiq_arg2f_85_outer_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/visual/robotiq_arg2f_85_outer_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/visual/robotiq_arg2f_85_pad | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/gripper/visual/robotiq_gripper_coupling | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/stick | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/collision/base | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/collision/forearm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/collision/shoulder | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/collision/upperarm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/collision/wrist1 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/collision/wrist2 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/collision/wrist3 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/visual/base | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/visual/forearm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/visual/shoulder | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/visual/upperarm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/visual/wrist1 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/visual/wrist2 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/meshes/ur5e/visual/wrist3 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/ur5e | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/ur5e_gripper | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e/ur5e_stick | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/README | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/finger_pad | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/robotiq_arg2f_85_base_link | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/robotiq_arg2f_85_inner_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/robotiq_arg2f_85_inner_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/robotiq_arg2f_85_outer_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/robotiq_arg2f_85_outer_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/robotiq_arg2f_base_link | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/collision/test2 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/cubic | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/robotiq_2f_85 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/textures/gripper-2f_BaseColor | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/textures/gripper-2f_Metallic | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/textures/gripper-2f_Normal | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/textures/gripper-2f_Roughness | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/visual/robotiq_arg2f_85_base_link | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/visual/robotiq_arg2f_85_inner_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/visual/robotiq_arg2f_85_inner_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/visual/robotiq_arg2f_85_outer_finger | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/visual/robotiq_arg2f_85_outer_knuckle | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/visual/robotiq_arg2f_85_pad | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/gripper/visual/robotiq_gripper_coupling | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/l515_mount | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/l515_with_mount | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/l515_with_mount_old | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/stick | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/collision/base | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/collision/forearm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/collision/shoulder | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/collision/upperarm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/collision/wrist1 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/collision/wrist2 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/collision/wrist3 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/visual/base | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/visual/forearm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/visual/shoulder | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/visual/upperarm | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/visual/wrist1 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/visual/wrist2 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/meshes/ur5e/visual/wrist3 | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
null | assets/urdf/more/ur5e_simplified/ur5e | hf://datasets/anonym-scholar/trace@fd1fe5e4256bd929be9570bef5337628beb9914b/assets.tar.gz |
End of preview.
Plan-Conditioned Imitation for Robust Object Retrieval under Self-Occlusion in Dense Clutter
TRACE — Teacher Rollouts for Adaptive Closed-loop Execution — is the method introduced in that paper. This repository holds the data its reference implementation downloads.
Assets, scene sets, checkpoints and training labels for the TRACE code release (anonymous submission, under review). The code fetches and verifies these archives for you:
python scripts/download_data.py # everything the reported tables need
python scripts/download_data.py --list # payloads, sizes and checksums
python scripts/download_data.py --only collections # add this to retrain a student
Each archive is checked against the SHA-256 recorded in scripts/download_data.py, so a
truncated download fails loudly instead of quietly changing a result.
| Archive | Size | Contents | SHA-256 (first 16) |
|---|---|---|---|
assets.tar.gz |
107 MB | UR5e, workspace and block URDFs with their collision meshes | c8e79a67cf71cc0d… |
scenes.tar.gz |
1 MB | 1,783 fit / 314 validation / 511 paper-evaluation scenes and manifests | 9d0b72c9275f2cad… |
checkpoints.tar.gz |
68 MB | teacher, students for three seeds, label controls and ablation fits | 7fa3e73627027215… |
grasp_models.tar.gz |
160 MB | grasp-quality network and its classifier (see NOTICE) | 7315d513e59786d3… |
collections.tar.gz |
985 MB | expert and DAgger label sets for all three seeds; needed only to retrain | 8bdcca8dd1bcfe85… |
Archives are deterministic: entries are sorted and ownership and timestamps are zeroed, so the same inputs produce byte-identical files on any machine.
What reproduces with this
The three simulation tables of the paper, on the 511-scene evaluation set with paired starts, and
every shipped student refits from collections with bit-identical weights. See docs/REPRODUCTION.md
in the code release.
Licensing
Not all of this is ours to license, so it is split.
CC-BY-4.0 — the generated scene sets and their manifests, the policy checkpoints, and the
expert and DAgger label sets (scenes, checkpoints, collections), together with the block
meshes and workspace description in assets.
Third-party, original terms retained:
grasp_models— the grasp-quality network and its classifier are not trained in this work. They come from the authors' self-supervised grasping pipeline, "Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter" (Huang, Guo, Boularias and Yu, ICRA 2022), and are redistributed with their permission so the reported numbers can be reproduced without retraining a grasp model. Please cite that work if you use these weights. Every method compared in the paper -- ours, the baselines and the privileged reference -- is scored by this same network, so it is a fixed part of the evaluation protocol rather than a contribution.assets— the UR5e and Robotiq 2F-85 descriptions and meshes derive from the manufacturers' published robot descriptions and from NVIDIA's IsaacGymEnvs, under their own terms;assets/licenses/carries the upstream license files. Isaac Gym itself is not redistributed.
The code release's NOTICE lists the same attributions for the software.
Citation
The paper is under anonymous review. Please cite the grasp-network work above if you use
grasp_models, and check back here for the paper citation once review concludes.
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