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
camera_names: list<item: string>
child 0, item: string
camera_serial_numbers: list<item: string>
child 0, item: string
depth_file: string
depth_scale_m: list<item: double>
child 0, item: double
end_actor_step: int64
num_intervened: int64
num_policy: int64
num_transitions: int64
run_id: string
start_actor_step: int64
task_name: string
trajectory_file: string
transitions: int64
schema: string
intervened: int64
storage: string
observation_depth_keys: list<item: string>
child 0, item: string
tasks: struct<insert_the_bread: struct<episodes: int64, intervened: int64, policy: int64, transitions: int6 (... 195 chars omitted)
child 0, insert_the_bread: struct<episodes: int64, intervened: int64, policy: int64, transitions: int64>
child 0, episodes: int64
child 1, intervened: int64
child 2, policy: int64
child 3, transitions: int64
child 1, insert_the_stick: struct<episodes: int64, intervened: int64, policy: int64, transitions: int64>
child 0, episodes: int64
child 1, intervened: int64
child 2, policy: int64
child 3, transitions: int64
child 2, pick_the_luosi: struct<episodes: int64, intervened: int64, policy: int64, transitions: int64>
child 0, episodes: int64
child 1, intervened: int64
child 2, policy: int64
child 3, transitions: int64
episodes: int64
rgb_episodes_without_real_depth_excluded: int64
policy: int64
to
{'episodes': Value('int64'), 'intervened': Value('int64'), 'observation_depth_keys': List(Value('string')), 'policy': Value('int64'), 'rgb_episodes_without_real_depth_excluded': Value('int64'), 'schema': Value('string'), 'storage': Value('string'), 'tasks': {'insert_the_bread': {'episodes': Value('int64'), 'intervened': Value('int64'), 'policy': Value('int64'), 'transitions': Value('int64')}, 'insert_the_stick': {'episodes': Value('int64'), 'intervened': Value('int64'), 'policy': Value('int64'), 'transitions': Value('int64')}, 'pick_the_luosi': {'episodes': Value('int64'), 'intervened': Value('int64'), 'policy': Value('int64'), 'transitions': Value('int64')}}, 'transitions': Value('int64')}
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
camera_names: list<item: string>
child 0, item: string
camera_serial_numbers: list<item: string>
child 0, item: string
depth_file: string
depth_scale_m: list<item: double>
child 0, item: double
end_actor_step: int64
num_intervened: int64
num_policy: int64
num_transitions: int64
run_id: string
start_actor_step: int64
task_name: string
trajectory_file: string
transitions: int64
schema: string
intervened: int64
storage: string
observation_depth_keys: list<item: string>
child 0, item: string
tasks: struct<insert_the_bread: struct<episodes: int64, intervened: int64, policy: int64, transitions: int6 (... 195 chars omitted)
child 0, insert_the_bread: struct<episodes: int64, intervened: int64, policy: int64, transitions: int64>
child 0, episodes: int64
child 1, intervened: int64
child 2, policy: int64
child 3, transitions: int64
child 1, insert_the_stick: struct<episodes: int64, intervened: int64, policy: int64, transitions: int64>
child 0, episodes: int64
child 1, intervened: int64
child 2, policy: int64
child 3, transitions: int64
child 2, pick_the_luosi: struct<episodes: int64, intervened: int64, policy: int64, transitions: int64>
child 0, episodes: int64
child 1, intervened: int64
child 2, policy: int64
child 3, transitions: int64
episodes: int64
rgb_episodes_without_real_depth_excluded: int64
policy: int64
to
{'episodes': Value('int64'), 'intervened': Value('int64'), 'observation_depth_keys': List(Value('string')), 'policy': Value('int64'), 'rgb_episodes_without_real_depth_excluded': Value('int64'), 'schema': Value('string'), 'storage': Value('string'), 'tasks': {'insert_the_bread': {'episodes': Value('int64'), 'intervened': Value('int64'), 'policy': Value('int64'), 'transitions': Value('int64')}, 'insert_the_stick': {'episodes': Value('int64'), 'intervened': Value('int64'), 'policy': Value('int64'), 'transitions': Value('int64')}, 'pick_the_luosi': {'episodes': Value('int64'), 'intervened': Value('int64'), 'policy': Value('int64'), 'transitions': Value('int64')}}, 'transitions': Value('int64')}
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.
ConRFT Franka RGB-D v1 Complete
Private Franka real-robot RGB-D replay collected with two synchronized views:
D405 wrist camera (wrist_1) and D435 primary camera (wrist_2).
Contents
- 2,985 episodes and 283,818 transitions.
insert_the_bread: 302 episodes / 40,440 transitions.insert_the_stick: 1,345 episodes / 111,655 transitions.pick_the_luosi: 1,338 episodes / 131,723 transitions.- 94,311 policy transitions and 189,507 intervention transitions.
Each indexed episode contains a trajectory_*.pkl actor journal and a paired
episode_*.npz real-depth sidecar. Pairing is validated by run id, actor step,
transition uid, intervention flag, and action source.
The loader produces two-frame observations with state, wrist_1, wrist_2,
depth_wrist_1, and depth_wrist_2. RGB is uint8; depth is raw uint16 and
must be multiplied by the per-camera depth_scale_m value to obtain metres.
Action dimensionality is task-specific: bread and luosi use 7-D actions, while the fixed-gripper stick task uses 6-D actions. Do not mix tasks in one batch without a task-aware action adapter.
See dataset.json for aggregate counts and index.jsonl for episode paths and
per-episode metadata.
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