Datasets:

anshks
/

abc-130k-640x480-examples

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
t_ns: int64
label: string
has_ee_pose: bool
instruction: string
crf: int64
task_name: string
fps: int64
stacked_resolution: list<item: int64>
  child 0, item: int64
camera_resolutions: struct<top: list<item: int64>, left: list<item: int64>, right: list<item: int64>>
  child 0, top: list<item: int64>
      child 0, item: int64
  child 1, left: list<item: int64>
      child 0, item: int64
  child 2, right: list<item: int64>
      child 0, item: int64
episode_metadata: struct<session_id: string, operator_id: string, task_name: string, duration: string, top_camera_widt (... 431 chars omitted)
  child 0, session_id: string
  child 1, operator_id: string
  child 2, task_name: string
  child 3, duration: string
  child 4, top_camera_width: string
  child 5, top_camera_height: string
  child 6, top_camera_type: string
  child 7, top_camera_polling_fps: string
  child 8, top_camera_auto_exposure: string
  child 9, left_camera_width: string
  child 10, left_camera_height: string
  child 11, left_camera_type: string
  child 12, left_camera_polling_fps: string
  child 13, left_camera_auto_exposure: string
  child 14, right_camera_width: string
  child 15, right_camera_height: string
  child 16, right_camera_type: string
  child 17, right_camera_polling_fps: string
  child 18, right_camera_auto_exposure: string
view_row_bands: struct<top: list<item: int64>, left: list<item: int64>, right: list<item: int64>>
  child 0, top: list<item: int64>
      child 0, item: int64
  child 1, left: list<item: int64>
      child 0, item: int64
  child 2, right: list<item: int64>
      child 0, item: int64
camera_calibration: struct</left-wrist-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<i (... 224 chars omitted)
  child 0, /left-wrist-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<item: double>>
      child 0, width: int64
      child 1, height: int64
      child 2, K: list<item: double>
          child 0, item: double
      child 3, D: list<item: double>
          child 0, item: double
  child 1, /right-wrist-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<item: double>>
      child 0, width: int64
      child 1, height: int64
      child 2, K: list<item: double>
          child 0, item: double
      child 3, D: list<item: double>
          child 0, item: double
  child 2, /top-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<item: double>>
      child 0, width: int64
      child 1, height: int64
      child 2, K: list<item: double>
          child 0, item: double
      child 3, D: list<item: double>
          child 0, item: double
alignment: string
source: struct<mcap: string, task_dir: string, episode_dir: string>
  child 0, mcap: string
  child 1, task_dir: string
  child 2, episode_dir: string
cameras: list<item: string>
  child 0, item: string
exporter: string
has_subtasks: bool
tick_ns: int64
num_steps: int64
t0_ns: int64
to
{'task_name': Value('string'), 'cameras': List(Value('string')), 'camera_resolutions': {'top': List(Value('int64')), 'left': List(Value('int64')), 'right': List(Value('int64'))}, 'stacked_resolution': List(Value('int64')), 'view_row_bands': {'top': List(Value('int64')), 'left': List(Value('int64')), 'right': List(Value('int64'))}, 'alignment': Value('string'), 't0_ns': Value('int64'), 'tick_ns': Value('int64'), 'num_steps': Value('int64'), 'fps': Value('int64'), 'crf': Value('int64'), 'instruction': Value('string'), 'camera_calibration': {'/left-wrist-camera-info': {'width': Value('int64'), 'height': Value('int64'), 'K': List(Value('float64')), 'D': List(Value('float64'))}, '/right-wrist-camera-info': {'width': Value('int64'), 'height': Value('int64'), 'K': List(Value('float64')), 'D': List(Value('float64'))}, '/top-camera-info': {'width': Value('int64'), 'height': Value('int64'), 'K': List(Value('float64')), 'D': List(Value('float64'))}}, 'episode_metadata': {'session_id': Value('string'), 'operator_id': Value('string'), 'task_name': Value('string'), 'duration': Value('string'), 'top_camera_width': Value('string'), 'top_camera_height': Value('string'), 'top_camera_type': Value('string'), 'top_camera_polling_fps': Value('string'), 'top_camera_auto_exposure': Value('string'), 'left_camera_width': Value('string'), 'left_camera_height': Value('string'), 'left_camera_type': Value('string'), 'left_camera_polling_fps': Value('string'), 'left_camera_auto_exposure': Value('string'), 'right_camera_width': Value('string'), 'right_camera_height': Value('string'), 'right_camera_type': Value('string'), 'right_camera_polling_fps': Value('string'), 'right_camera_auto_exposure': Value('string')}, 'has_ee_pose': Value('bool'), 'has_subtasks': Value('bool'), 'source': {'mcap': Value('string'), 'task_dir': Value('string'), 'episode_dir': Value('string')}, 'exporter': 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 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/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
              t_ns: int64
              label: string
              has_ee_pose: bool
              instruction: string
              crf: int64
              task_name: string
              fps: int64
              stacked_resolution: list<item: int64>
                child 0, item: int64
              camera_resolutions: struct<top: list<item: int64>, left: list<item: int64>, right: list<item: int64>>
                child 0, top: list<item: int64>
                    child 0, item: int64
                child 1, left: list<item: int64>
                    child 0, item: int64
                child 2, right: list<item: int64>
                    child 0, item: int64
              episode_metadata: struct<session_id: string, operator_id: string, task_name: string, duration: string, top_camera_widt (... 431 chars omitted)
                child 0, session_id: string
                child 1, operator_id: string
                child 2, task_name: string
                child 3, duration: string
                child 4, top_camera_width: string
                child 5, top_camera_height: string
                child 6, top_camera_type: string
                child 7, top_camera_polling_fps: string
                child 8, top_camera_auto_exposure: string
                child 9, left_camera_width: string
                child 10, left_camera_height: string
                child 11, left_camera_type: string
                child 12, left_camera_polling_fps: string
                child 13, left_camera_auto_exposure: string
                child 14, right_camera_width: string
                child 15, right_camera_height: string
                child 16, right_camera_type: string
                child 17, right_camera_polling_fps: string
                child 18, right_camera_auto_exposure: string
              view_row_bands: struct<top: list<item: int64>, left: list<item: int64>, right: list<item: int64>>
                child 0, top: list<item: int64>
                    child 0, item: int64
                child 1, left: list<item: int64>
                    child 0, item: int64
                child 2, right: list<item: int64>
                    child 0, item: int64
              camera_calibration: struct</left-wrist-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<i (... 224 chars omitted)
                child 0, /left-wrist-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<item: double>>
                    child 0, width: int64
                    child 1, height: int64
                    child 2, K: list<item: double>
                        child 0, item: double
                    child 3, D: list<item: double>
                        child 0, item: double
                child 1, /right-wrist-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<item: double>>
                    child 0, width: int64
                    child 1, height: int64
                    child 2, K: list<item: double>
                        child 0, item: double
                    child 3, D: list<item: double>
                        child 0, item: double
                child 2, /top-camera-info: struct<width: int64, height: int64, K: list<item: double>, D: list<item: double>>
                    child 0, width: int64
                    child 1, height: int64
                    child 2, K: list<item: double>
                        child 0, item: double
                    child 3, D: list<item: double>
                        child 0, item: double
              alignment: string
              source: struct<mcap: string, task_dir: string, episode_dir: string>
                child 0, mcap: string
                child 1, task_dir: string
                child 2, episode_dir: string
              cameras: list<item: string>
                child 0, item: string
              exporter: string
              has_subtasks: bool
              tick_ns: int64
              num_steps: int64
              t0_ns: int64
              to
              {'task_name': Value('string'), 'cameras': List(Value('string')), 'camera_resolutions': {'top': List(Value('int64')), 'left': List(Value('int64')), 'right': List(Value('int64'))}, 'stacked_resolution': List(Value('int64')), 'view_row_bands': {'top': List(Value('int64')), 'left': List(Value('int64')), 'right': List(Value('int64'))}, 'alignment': Value('string'), 't0_ns': Value('int64'), 'tick_ns': Value('int64'), 'num_steps': Value('int64'), 'fps': Value('int64'), 'crf': Value('int64'), 'instruction': Value('string'), 'camera_calibration': {'/left-wrist-camera-info': {'width': Value('int64'), 'height': Value('int64'), 'K': List(Value('float64')), 'D': List(Value('float64'))}, '/right-wrist-camera-info': {'width': Value('int64'), 'height': Value('int64'), 'K': List(Value('float64')), 'D': List(Value('float64'))}, '/top-camera-info': {'width': Value('int64'), 'height': Value('int64'), 'K': List(Value('float64')), 'D': List(Value('float64'))}}, 'episode_metadata': {'session_id': Value('string'), 'operator_id': Value('string'), 'task_name': Value('string'), 'duration': Value('string'), 'top_camera_width': Value('string'), 'top_camera_height': Value('string'), 'top_camera_type': Value('string'), 'top_camera_polling_fps': Value('string'), 'top_camera_auto_exposure': Value('string'), 'left_camera_width': Value('string'), 'left_camera_height': Value('string'), 'left_camera_type': Value('string'), 'left_camera_polling_fps': Value('string'), 'left_camera_auto_exposure': Value('string'), 'right_camera_width': Value('string'), 'right_camera_height': Value('string'), 'right_camera_type': Value('string'), 'right_camera_polling_fps': Value('string'), 'right_camera_auto_exposure': Value('string')}, 'has_ee_pose': Value('bool'), 'has_subtasks': Value('bool'), 'source': {'mcap': Value('string'), 'task_dir': Value('string'), 'episode_dir': Value('string')}, 'exporter': Value('string')}
              because column names don't match

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ABC-130k 640x480 export — 10 example episodes

Ten example episodes (8 train, 2 val, nine tasks) from an internal re-export of ABC-130k. Each episode folder holds the three 640x480 camera views stacked vertically into one 640x1440 H.264 video, the 30 Hz robot states and actions, and the episode metadata.

train/episode_<uuid>/
val/episode_<uuid>/
_census/     lists and per-task tallies of the included episodes

License and attribution

The underlying data is from ABC-130k, released under the Apache License 2.0. This sample re-encodes and reorganizes that data; it is redistributed under the same license.

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Total file size:

354 MB