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The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 11 new columns ({'ious', 'sec', 'mesh', 'centroid_mm', 'init', 'gated', 'cost', 'rel_chamfer_mm', 'chamfer_mm', 'nuse', 'sep'}) and 1 missing columns ({'stage'}).
This happened while the json dataset builder was generating data using
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'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_2_2026-03-19_17-32-59_905536.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_2_2026-03-19_19-09-18_981462.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_2_2026-03-19_19-26-03_854225.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_30_2026-03-19_15-54-33_979877.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_31_2026-03-19_15-54-57_865787.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_32_2026-03-19_15-55-23_227583.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_33_2026-03-19_15-55-50_916348.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_35_2026-03-19_15-57-34_928419.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_37_2026-03-19_15-58-41_747575.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_39_2026-03-19_15-59-35_427488.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_3_2026-03-19_17-06-37_805748.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_3_2026-03-19_17-33-25_580261.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_3_2026-03-19_17-39-13_157972.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_3_2026-03-19_19-09-49_933969.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_3_2026-03-19_19-26-31_051282.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_40_2026-03-19_15-59-59_078149.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_41_2026-03-19_16-00-42_812146.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_42_2026-03-19_16-02-36_118138.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_43_2026-03-19_16-03-05_490112.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_44_2026-03-19_16-03-34_871604.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_45_2026-03-19_16-03-59_238928.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_46_2026-03-19_16-05-21_158034.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_47_2026-03-19_16-05-46_288754.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_48_2026-03-19_16-06-13_349648.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_15-38-32_958453.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_16-56-39_434177.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_17-08-01_222145.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_17-28-05_775950.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_17-33-53_742454.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_17-39-37_411806.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_19-10-22_411326.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_4_2026-03-19_19-27-01_881035.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_5_2026-03-19_16-58-21_062326.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_5_2026-03-19_17-09-43_940680.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_5_2026-03-19_17-28-30_365792.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_5_2026-03-19_17-34-17_985691.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_5_2026-03-19_17-40-14_709145.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_5_2026-03-19_19-11-07_259707.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_5_2026-03-19_19-27-30_678868.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_6_2026-03-19_15-40-56_091431.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_6_2026-03-19_16-59-28_042896.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_6_2026-03-19_17-29-33_544884.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_6_2026-03-19_19-12-01_865559.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_6_2026-03-19_19-28-04_786017.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_7_2026-03-19_15-41-22_476352.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_7_2026-03-19_19-12-45_112742.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_8_2026-03-19_15-41-48_678626.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_8_2026-03-19_17-11-16_668426.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_8_2026-03-19_17-30-24_987301.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_8_2026-03-19_17-35-42_152038.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_8_2026-03-19_19-13-11_901995.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_9_2026-03-19_17-30-55_070927.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks_rgb/assembly_demo_9_2026-03-19_19-29-30_354702.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/rand_obj_objfut_pointflow_perceived_dpe/bimanual_assembly/perceived_pose.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/rand_obj_objfut_pointflow_perceived_rpe/bimanual_assembly/perceived_pose.json']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1856, in _prepare_split_single
writer.write_table(table)
~~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 811, in write_table
self._write_table(pa_table, writer_batch_size=writer_batch_size)
~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 822, in _write_table
pa_table = table_cast(pa_table, self._schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
ep: string
idx: int64
obj: string
sep: double
sec: double
mesh: string
gated: list<item: null>
child 0, item: null
pose_t: list<item: double>
child 0, item: double
pose_quat_xyzw: list<item: double>
child 0, item: double
scale: list<item: double>
child 0, item: double
cost: double
nuse: int64
init: string
ious: struct<0: double, 1: double, 2: double>
child 0, 0: double
child 1, 1: double
child 2, 2: double
chamfer_mm: double
centroid_mm: double
rel_chamfer_mm: double
to
{'ep': Value('string'), 'idx': Value('int64'), 'obj': Value('string'), 'pose_t': List(Value('float64')), 'pose_quat_xyzw': List(Value('float64')), 'scale': List(Value('float64')), 'stage': Value('string')}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1379, 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 956, 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 1702, 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 1858, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
...<4 lines>...
)
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 11 new columns ({'ious', 'sec', 'mesh', 'centroid_mm', 'init', 'gated', 'cost', 'rel_chamfer_mm', 'chamfer_mm', 'nuse', 'sep'}) and 1 missing columns ({'stage'}).
This happened while the json dataset builder was generating data using
hf://datasets/b12902136/DP-T-perceived-pose-data/every_step_perfect/tracks_rgb/assembly_demo_10_2026-03-19_15-42-47_880265.json (at revision 0a29a197b0a1be4f4633681acb341dcba4f3ad6d), ['hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks/assembly_demo_10_2026-03-19_15-42-47_880265.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks/assembly_demo_10_2026-03-19_17-31-23_870703.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks/assembly_demo_10_2026-03-19_17-36-54_867270.json', 'hf://datasets/b12902136/DP-T-perceived-pose-data@0a29a197b0a1be4f4633681acb341dcba4f3ad6d/every_step_perfect/tracks/assembly_demo_10_2026-03-19_19-14-20_034455.json', 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Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
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0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 41 | peg | [
-0.1515414729,
-0.1780144805,
0.9717008747
] | [
0.1824022971,
-0.6834661783,
0.0534148295,
0.7048051086
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 41 | tray | [
-0.26797805,
0.1518747409,
0.9921709387
] | [
0.7064347767,
-0.0742911944,
-0.0764668098,
0.6997024737
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 42 | peg | [
-0.1521767991,
-0.1782374349,
0.971702
] | [
-0.0440927168,
0.705981538,
-0.191356162,
-0.6804621368
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 42 | tray | [
-0.2679489491,
0.1519141139,
0.9921754671
] | [
0.7063133283,
-0.0750243813,
-0.0772198382,
0.6996641487
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 43 | peg | [
-0.1511134764,
-0.1778634283,
0.9717006142
] | [
0.5689380439,
-0.4203036753,
-0.3980035276,
0.5841639451
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 43 | tray | [
-0.2659118808,
0.1517563813,
0.9921800934
] | [
0.0754364918,
0.7074185362,
0.6985465919,
0.0768180272
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 44 | peg | [
-0.1511174186,
-0.177868399,
0.9717023417
] | [
0.4658148572,
0.5316539927,
0.615683182,
0.3482739873
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 44 | tray | [
-0.2668440781,
0.1529291733,
0.9921760909
] | [
-0.4462322437,
0.5532511395,
0.5483595861,
-0.4405584249
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 45 | peg | [
-0.1520887646,
-0.1782106884,
0.9717030678
] | [
0.6215469302,
-0.3376321133,
-0.4748681737,
0.5236259995
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 45 | tray | [
-0.2659165315,
0.1517454886,
0.9921773422
] | [
0.0752966196,
0.7074743033,
0.6985180389,
0.0767012294
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 46 | peg | [
-0.1511265805,
-0.1778764403,
0.971701933
] | [
0.0033560483,
0.7073435962,
-0.236656672,
-0.6660686102
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 46 | tray | [
-0.2679624808,
0.1519138123,
0.9921721805
] | [
0.7064180407,
-0.0744379404,
-0.0768107952,
0.6996660964
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 47 | peg | [
-0.1511370124,
-0.1778767313,
0.9716996529
] | [
-0.1106768353,
0.6986679049,
-0.12610743,
-0.6954931436
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 47 | tray | [
-0.2668570629,
0.1529226894,
0.9921784827
] | [
-0.4462192276,
0.5532431874,
0.5483082751,
-0.4406454492
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 48 | peg | [
-0.1511111338,
-0.1778704352,
0.971698549
] | [
-0.0029827812,
0.7073642966,
-0.2306384563,
-0.6681562372
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 48 | tray | [
-0.2679468636,
0.1518521227,
0.9921771328
] | [
0.7063792821,
-0.0742296552,
-0.0763430779,
0.6997785383
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 49 | peg | [
-0.1516602331,
-0.1780569537,
0.9716984072
] | [
0.1625267152,
-0.6884516639,
0.0738336922,
0.7029708097
] | [
0.1961483458,
0.2240438914,
0.2223637272
] | track |
assembly_demo_10_2026-03-19_15-42-47_880265 | 49 | tray | [
-0.2680050337,
0.1519128312,
0.9921671093
] | [
0.7064354208,
-0.0743453781,
-0.0765620206,
0.6996856565
] | [
0.1845485191,
0.1845485191,
0.1845485191
] | track |
End of preview.
DP-T perceived-pose datasets (bimanual_assembly)
These are training data for perceived-pose policies: the 100 DexJoCo bimanual_assembly demos, with obj_pose replaced by the poses our perception estimated at every step of every demo.
The checkpoints trained on them are in b12902136/DP-T-perceived-pose. The code is the DP-T repository, branch cadfree-pointflow; how these were made is in docs/PERFECT_DEPTH_PIPELINE.md.
| Folder | Contents | Size |
|---|---|---|
rand_obj_objfut_pointflow_perceived_dpe/bimanual_assembly |
dpe: depth tracker on perfect (simulator) depth, every step, new canonical rotations, mesh frame | 31 MB |
rand_obj_objfut_pointflow_perceived_rpe/bimanual_assembly |
rpe: the same run's RGB tracker poses | 32 MB |
every_step_perfect/tracks |
the per-step depth-tracker poses (one json per demo) that dpe was built from | 40 MB |
every_step_perfect/tracks_rgb |
the per-step RGB-tracker poses that rpe was built from | 75 MB |
every_step_perfect/lite |
per-frame camera poses, robot state and true object poses (no images); the dataset builder's --frames |
16 MB |
Dataset contents (replay_buffer.zarr, 54,170 steps, 100 episodes)
| Array | What it is |
|---|---|
data/obj_pose |
The policy input: the perceived pose [tray 7, peg 7], position + quaternion (wxyz), in the frame of the shared SAM 3D meshes, at every step (no hold, no interpolation) |
data/obj_pose_fut |
The pointflow target: the TRUE motion applied to the perceived pose. Ground truth, used as supervision only. |
data/obj_pose_gt |
The true poses, for measurement only. No training config reads it. |
data/state, data/action, data/timestamp, meta/episode_ends |
Unchanged from the source dataset rand_obj_objfut_pointflow |
pointflow_stats.npz holds the pointflow statistics on the perceived cloud. perceived_pose.json holds the builder's settings: --canon --peg-spin hand, frame mesh, every step.
Rotations. Rotations are canonicalised:
- the tray's yaw is folded onto one symmetry branch;
- the peg axis points toward the right hand;
- the peg's spin is taken from the right TCP.
The eval perception must use the same rule (--perceived-canon --perceived-peg-spin hand).
Perception error against the true pose, as median / p90:
| Tray | Peg | |
|---|---|---|
| dpe | 1.62 / 2.2 mm | 1.10 / 2.3 mm |
| rpe | 1.86 / 6.2 mm | 1.47 / 3.8 mm |
Use
# the datasets, into dexjoco's converted_datasets/zarr (where slurm/main reads PV=dpe / rpe)
hf download b12902136/DP-T-perceived-pose-data --repo-type dataset --include 'rand_obj_objfut_pointflow_perceived_*' \
--local-dir $DEXJOCO_ROOT/converted_datasets/zarr
# (optional) the per-step tracks, to rebuild other representations without re-running perception
hf download b12902136/DP-T-perceived-pose-data --repo-type dataset --include 'every_step_perfect/*' --local-dir $VLA_ROOT/DP-T/outputs/depth
# train (the code repo; also run assets/perceived_pose/install.sh once for the policy's object cloud)
PV=dpe VARIANT=N POSE=perceived SEED=42 sbatch slurm/main/train.sbatch
To rebuild a representation, run scripts/policy/add_perceived_pose_zarr.py with --tracks …/every_step_perfect/tracks (or tracks_rgb) and --frames …/every_step_perfect/lite, plus the source dataset rand_obj_objfut_pointflow. Give it a new tag, since the builder refuses an existing output.
Caveats
- Perfect depth. dpe's depth is the simulator's own, noise-free, so it is an upper bound for a depth sensor.
- Shared depth model. The tracker's shared object model was built from these same 100 training demos. It used only depth, with no CAD; the eval scenes were not involved.
- Assembly only. These datasets are specific to bimanual_assembly's objects and the DexJoCo demo set.
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