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The dataset generation failed
Error code: DatasetGenerationError
Exception: ArrowNotImplementedError
Message: Cannot write struct type 'runtime_measurement_noise_stds' with no child field to Parquet. Consider adding a dummy child field.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
num_examples, num_bytes = writer.finalize()
~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 781, in finalize
self.write_rows_on_file()
~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 663, in write_rows_on_file
self._write_table(table)
~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 771, in _write_table
self._build_writer(inferred_schema=pa_table.schema)
~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 812, in _build_writer
self.pa_writer = pq.ParquetWriter(
~~~~~~~~~~~~~~~~^
self.stream,
^^^^^^^^^^^^
...<9 lines>...
},
^^
)
^
File "/usr/local/lib/python3.14/site-packages/pyarrow/parquet/core.py", line 1082, in __init__
self.writer = _parquet.ParquetWriter(
~~~~~~~~~~~~~~~~~~~~~~^
sink, schema,
^^^^^^^^^^^^^
...<20 lines>...
max_rows_per_page=max_rows_per_page,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
**options)
^^^^^^^^^^
File "pyarrow/_parquet.pyx", line 2374, in pyarrow._parquet.ParquetWriter.__cinit__
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowNotImplementedError: Cannot write struct type 'runtime_measurement_noise_stds' with no child field to Parquet. Consider adding a dummy child field.
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 1694, 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 1880, 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.
env_name string | env_mode string | nerd_model_path null | nerd_checkpoint_epoch null | policy_checkpoint string | policy_checkpoint_iter int64 | policy_interface string | policy_joint_order dict | rollout_seconds float64 | render_fps float64 | checkpoint_env_name null | model_action_contract dict | evaluation_frame_dt float64 | evaluation_decimation int64 | continue_after_task_termination bool | disabled_termination_terms list | policy_step_mode string | reset_profile string | initial_state_cache null | paired_target_physx_closed_loop null | system1_self_collisions bool | sim_physics_profile string | forbid_real_adapter bool | real_adapter_fusion_calls int64 | walk_command_x null | walk_command_y float64 | walk_command_yaw float64 | walk_tracking_rmse_max float64 | system1_collision_geometry_profile string | show_collision_shapes bool | system2_contact_pipeline string | system_identification dict | dynamics_code null | runtime_contact_mode string | runtime_dynamics_function string | runtime_mean_filled_contacts list | rollouts_cache string | full_horizon bool | geometry_only_g1_rewards bool | cases list | aggregate dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
UnitreeG1-Sidekick-Reference-NeRD | ground-truth | null | null | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20260930-230800-policy-robustness/train-new-sidekick-io_mild/sidekick/policy/model_999.pt | 999 | backflip | {
"canonical_joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_p... | 7.5 | 50 | null | {
"source_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"model_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_... | 0.005 | 4 | true | [
"anchor_position",
"disallowed_contact",
"end_effector_position",
"reference_complete"
] | native | clean_first_mild | null | null | true | fixed_system1_self_collision_on | false | 0 | null | 0 | 0 | 0.35 | sonic_all_cylinders_as_capsules | false | fixed_ground_anchors | {
"candidate": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-fit/target.json",
"candidate_sha256": "057bd9301626410c96c66a5e4a28ab687714600f1c8cdb473964a6757b5e6fe6",
"iteration": 0,
"algorithm": "frozen_Epriv_constrained_multistart_preimage",
"config": "/isaac-sim/code... | null | model | full | [] | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r000/g1_gt_autoreg_rollouts_20261001_213658.pt | true | false | [
{
"case": "backflip_policy",
"rollout_index": 0,
"video": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r000/g1_gt_backflip_policy_rollout00.mp4",
"seed": 20001,
"horizon": 1500,
"rollout_steps": 375,
"planned_rollout_... | {
"backflip_policy": {
"num_rollouts": 4,
"finite_rate": 1,
"backflip_upper_bound_pass_rate": 0,
"backflip_upper_bound_pass": false,
"full_rotation_rate": 0,
"backward_rotation_rad_mean": 1.623837947845459,
"backward_rotation_rad_max": 1.8158001899719238,
"stable_landing_s_max": 0
}
... |
UnitreeG1-Sidekick-Reference-NeRD | ground-truth | null | null | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/train-sidekick-r005/sidekick/policy/model_999.pt | 999 | backflip | {
"canonical_joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_p... | 7.5 | 50 | null | {
"source_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"model_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_... | 0.005 | 4 | true | [
"anchor_position",
"disallowed_contact",
"end_effector_position",
"reference_complete"
] | native | clean_first_mild | null | null | true | fixed_system1_self_collision_on | false | 0 | null | 0 | 0 | 0.35 | sonic_all_cylinders_as_capsules | false | fixed_ground_anchors | {
"candidate": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-fit/target.json",
"candidate_sha256": "057bd9301626410c96c66a5e4a28ab687714600f1c8cdb473964a6757b5e6fe6",
"iteration": 0,
"algorithm": "frozen_Epriv_constrained_multistart_preimage",
"config": "/isaac-sim/code... | null | model | full | [] | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r005/g1_gt_autoreg_rollouts_20261001_213658.pt | true | false | [
{
"case": "backflip_policy",
"rollout_index": 0,
"video": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r005/g1_gt_backflip_policy_rollout00.mp4",
"seed": 20001,
"horizon": 1500,
"rollout_steps": 375,
"planned_rollout_... | {
"backflip_policy": {
"num_rollouts": 4,
"finite_rate": 1,
"backflip_upper_bound_pass_rate": 0,
"backflip_upper_bound_pass": false,
"full_rotation_rate": 0,
"backward_rotation_rad_mean": 0.8584056943655014,
"backward_rotation_rad_max": 2.2404520511627197,
"stable_landing_s_max": 0
}... |
UnitreeG1-Sidekick-Reference-NeRD | ground-truth | null | null | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/train-sidekick-r01/sidekick/policy/model_999.pt | 999 | backflip | {
"canonical_joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_p... | 7.5 | 50 | null | {
"source_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"model_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_... | 0.005 | 4 | true | [
"anchor_position",
"disallowed_contact",
"end_effector_position",
"reference_complete"
] | native | clean_first_mild | null | null | true | fixed_system1_self_collision_on | false | 0 | null | 0 | 0 | 0.35 | sonic_all_cylinders_as_capsules | false | fixed_ground_anchors | {
"candidate": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-fit/target.json",
"candidate_sha256": "057bd9301626410c96c66a5e4a28ab687714600f1c8cdb473964a6757b5e6fe6",
"iteration": 0,
"algorithm": "frozen_Epriv_constrained_multistart_preimage",
"config": "/isaac-sim/code... | null | model | full | [] | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r01/g1_gt_autoreg_rollouts_20261001_213700.pt | true | false | [
{
"case": "backflip_policy",
"rollout_index": 0,
"video": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r01/g1_gt_backflip_policy_rollout00.mp4",
"seed": 20001,
"horizon": 1500,
"rollout_steps": 375,
"planned_rollout_s... | {
"backflip_policy": {
"num_rollouts": 4,
"finite_rate": 1,
"backflip_upper_bound_pass_rate": 0,
"backflip_upper_bound_pass": false,
"full_rotation_rate": 0,
"backward_rotation_rad_mean": 0.5293598920106888,
"backward_rotation_rad_max": 0.5447508692741394,
"stable_landing_s_max": 0
}... |
UnitreeG1-Sidekick-Reference-NeRD | ground-truth | null | null | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/train-sidekick-r02/sidekick/policy/model_999.pt | 999 | backflip | {
"canonical_joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_p... | 7.5 | 50 | null | {
"source_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"model_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_... | 0.005 | 4 | true | [
"anchor_position",
"disallowed_contact",
"end_effector_position",
"reference_complete"
] | native | clean_first_mild | null | null | true | fixed_system1_self_collision_on | false | 0 | null | 0 | 0 | 0.35 | sonic_all_cylinders_as_capsules | false | fixed_ground_anchors | {
"candidate": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-fit/target.json",
"candidate_sha256": "057bd9301626410c96c66a5e4a28ab687714600f1c8cdb473964a6757b5e6fe6",
"iteration": 0,
"algorithm": "frozen_Epriv_constrained_multistart_preimage",
"config": "/isaac-sim/code... | null | model | full | [] | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r02/g1_gt_autoreg_rollouts_20261001_213703.pt | true | false | [
{
"case": "backflip_policy",
"rollout_index": 0,
"video": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r02/g1_gt_backflip_policy_rollout00.mp4",
"seed": 20001,
"horizon": 1500,
"rollout_steps": 375,
"planned_rollout_s... | {
"backflip_policy": {
"num_rollouts": 4,
"finite_rate": 1,
"backflip_upper_bound_pass_rate": 0,
"backflip_upper_bound_pass": false,
"full_rotation_rate": 0,
"backward_rotation_rad_mean": 0.5485607981681824,
"backward_rotation_rad_max": 0.5531591773033142,
"stable_landing_s_max": 0
}... |
UnitreeG1-Sidekick-Reference-NeRD | ground-truth | null | null | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-110129-code-5pct/train-sidekick-r05/sidekick/policy/model_999.pt | 999 | backflip | {
"canonical_joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_p... | 7.5 | 50 | null | {
"source_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"model_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_... | 0.005 | 4 | true | [
"anchor_position",
"disallowed_contact",
"end_effector_position",
"reference_complete"
] | native | clean_first_mild | null | null | true | fixed_system1_self_collision_on | false | 0 | null | 0 | 0 | 0.35 | sonic_all_cylinders_as_capsules | false | fixed_ground_anchors | {
"candidate": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-fit/target.json",
"candidate_sha256": "057bd9301626410c96c66a5e4a28ab687714600f1c8cdb473964a6757b5e6fe6",
"iteration": 0,
"algorithm": "frozen_Epriv_constrained_multistart_preimage",
"config": "/isaac-sim/code... | null | model | full | [] | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r05/g1_gt_autoreg_rollouts_20261001_213701.pt | true | false | [
{
"case": "backflip_policy",
"rollout_index": 0,
"video": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r05/g1_gt_backflip_policy_rollout00.mp4",
"seed": 20001,
"horizon": 1500,
"rollout_steps": 375,
"planned_rollout_s... | {
"backflip_policy": {
"num_rollouts": 4,
"finite_rate": 1,
"backflip_upper_bound_pass_rate": 0,
"backflip_upper_bound_pass": false,
"full_rotation_rate": 0,
"backward_rotation_rad_mean": 0.43642501533031464,
"backward_rotation_rad_max": 0.4435475170612335,
"stable_landing_s_max": 0
... |
UnitreeG1-Sidekick-Reference-NeRD | ground-truth | null | null | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-110538-code-10pct/train-sidekick-r10/sidekick/policy/model_999.pt | 999 | backflip | {
"canonical_joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_p... | 7.5 | 50 | null | {
"source_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"model_env_name": "UnitreeG1-Sidekick-Reference-NeRD",
"joint_names": [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_... | 0.005 | 4 | true | [
"anchor_position",
"disallowed_contact",
"end_effector_position",
"reference_complete"
] | native | clean_first_mild | null | null | true | fixed_system1_self_collision_on | false | 0 | null | 0 | 0 | 0.35 | sonic_all_cylinders_as_capsules | false | fixed_ground_anchors | {
"candidate": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-fit/target.json",
"candidate_sha256": "057bd9301626410c96c66a5e4a28ab687714600f1c8cdb473964a6757b5e6fe6",
"iteration": 0,
"algorithm": "frozen_Epriv_constrained_multistart_preimage",
"config": "/isaac-sim/code... | null | model | full | [] | /mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r10/g1_gt_autoreg_rollouts_20261001_213658.pt | true | false | [
{
"case": "backflip_policy",
"rollout_index": 0,
"video": "/mnt/amlfs-04/shared/chanyu/g1-nerd-policies/20261001-083000-code-ablation/gt-domain-eval/sidekick-target/sidekick-r10/g1_gt_backflip_policy_rollout00.mp4",
"seed": 20001,
"horizon": 1500,
"rollout_steps": 375,
"planned_rollout_s... | {
"backflip_policy": {
"num_rollouts": 4,
"finite_rate": 1,
"backflip_upper_bound_pass_rate": 0,
"backflip_upper_bound_pass": false,
"full_rotation_rate": 0,
"backward_rotation_rad_mean": 0.6141934543848038,
"backward_rotation_rad_max": 0.6241423487663269,
"stable_landing_s_max": 0
}... |
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