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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 dataset

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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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