Datasets:

cloudfan
/

DreamTac

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 dataset

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.

0.0.0 unknown	__key__ string	__url__ string
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"AgGUAQDAJAAAAAQAdL4OAPi+BAA4AAAAHaMBADVxCwDrDQgAOG0GAJ3uCQDCHgMA0g0NALq4CQDhogEAKLUv/aAAAAQAdGcJPni(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/1168	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)
"AgGUAQDAJAAAAAQAv9kOAPygAQA4AAAAJVcDAImICwCA2gkAnLkGAKdUCAAfEgUAaSYNACfcBADAoAEAKLUv/aAAAAQA/G0JDtf(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/2657	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)
"AgGUAQDAJAAAAAQACEYOADgAAADGMQMAicAJAHSfAQCjjAYAF/0EAOo0CwCCKAgAKqwMAGvEBAA4nwEAKLUv/aAAAAQAHIEJTsJ(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/990	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)
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"AgGUAQDAJAAAAAQAiH0OADgAAABllwYAoEgDACTFCQD7pAEAeTAIAExcCwAA+wQAqtoMAC3EBAC/pAEAKLUv/aAAAAQAXKMJPto(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/327	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)
"AgGUAQDAJAAAAAQAdJ8OAGWWBgA4AAAATuMEAOtGAwB3oAEAUcQJAPZDCADgXAsA7foMAApfBgA7oAEAKLUv/aAAAAQAxHQJPpn(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/230	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)
"AgGUAQDAJAAAAAQAsFwOAMAoAwC3QgYAlcsEADOTAQBB3wcAebUJALZMCwA4AAAA4MAMANh+CQD3kgEAKLUv/aAAAAQA7DEJLvb(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/1839	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)
"AgGUAQDAJAAAAAQACeQPAMqqAQBRAgcAOAAAAMp7AwA/+AgAu8EKANY6DgBnPQUAunAMAKS2CACOqgEAKLUv/aAAAAQAPH4Jrnc(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/477	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)
"AgGUAQDAJAAAAAQAWCIPANPbBAA4AAAA0soGAD1VCAAF/wkAu6UBAGRKAwCKtAsAFmUNAHySBgB/pQEAKLUv/aAAAAQAHH8J3pL(...TRUNCATED)	clean_whiteboard.zarr/data/camera_main_rgb/2597	"hf://datasets/cloudfan/DreamTac@ce2cfe2842e78f34fb88822965df87ee186223ae/zarr_archives/clean_whiteb(...TRUNCATED)

End of preview.

DreamTac

DreamTac is a contact-rich robot manipulation dataset collected at PKU with a Franka Emika Panda, two synchronized RGB cameras, and two Xense Photon vision-based tactile sensors mounted on the gripper fingertips.

This release follows the Open-X-Tactile submission format.

Dataset summary

12 tasks
703 successful trajectories
506,078 frames
20 FPS (approximately 7.03 hours)
Third-person RGB: camera_main_rgb, 224 x 224 RGB
Wrist RGB: right_wrist_camera_rgb, 224 x 224 RGB
Tactile RGB: right_tactile_data_gripper, two 224 x 224 RGB streams
End-effector pose: position in meters plus rotation vector in radians, expressed in the Franka base frame
Gripper: one scalar opening value; arm joint angles are not included

The tactile area IDs are 0 for the left fingertip and 1 for the right fingertip. Files from the source no_tactile batch are excluded.

Files

Each task is distributed as one archive under zarr_archives/ to avoid placing roughly 100,000 individual Zarr chunk files in the Hub repository. Extract an archive with:

tar -xf zarr_archives/pick_bread.zarr.tar

The extracted directory is a standard Zarr v2 group. Submission metadata, hardware images, conversion manifests, and Open-X-Tactile check reports are under submission/.

Tasks

clean_whiteboard, cut_banana, insert_screw, insert_usb, pick_bread, pick_hongzhong, pick_place, pick_usb, push_hongzhong_pos1, push_hongzhong_pos2, push_hongzhong_pos3, and stack_bowl.

License

DreamTac is released under the Creative Commons Attribution 4.0 International (CC BY 4.0) license.

References

Paper: Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
Project repository: LYFCLOUDFAN/Dream-Tac

Contact: e1373933@u.nus.edu

Downloads last month: 123

Total file size:

138 GB

Paper for cloudfan/DreamTac

Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation

Paper • 2606.08737 • Published Jun 7