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SciEdu_text_aug

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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
Do the leaf sorting experiment. put the leaf on the left side: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the leaf sorting experiment. put the leaf on the right side: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the redox reaction experiment. lift the metal plate out of the left beaker: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the redox reaction experiment. move the plate over the blue solution: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the redox reaction experiment. point at the plate with the left hand: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the redox reaction experiment. lower the plate into the blue solution: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  ch
...
st<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the electroscope experiment. hold the plate still at the electroscope: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the electroscope experiment. put the plate down on the right: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the electroscope experiment. return to the home posture: struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the leaf sorting experiment. compound leaves go to the left side and simple leaves go to the righ (... 6 chars omitted): struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
Do the leaf sorting experiment. compound leaves go to the right side and simple leaves go to the lef (... 6 chars omitted): struct<train: list<item: string>, test: list<item: string>>
  child 0, train: list<item: string>
      child 0, item: string
  child 1, test: list<item: string>
      child 0, item: string
to
{'Do the leaf sorting experiment. compound leaves go to the left side and simple leaves go to the right side': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the leaf sorting experiment. compound leaves go to the right side and simple leaves go to the left side': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. lift the metal plate out of the left beaker': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. move the plate over the blue solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. point at the plate with the left hand': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. lower the plate into the blue solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. hold the plate still in the solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. raise the plate out of the solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. move the plate over the left beaker': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. put the plate into the left beaker': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. return to the home posture': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. pick up the white charging plate': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. bring the plate to the electroscope and point at the metal foil': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. move the plate toward and away from the electroscope': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. rub the plate on the fur': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. hold the plate still at the electroscope': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. put the plate down on the right': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. return to the home posture': {'train': List(Value('string')), 'test': List(Value('string'))}}
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 2951, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2461, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2486, 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 547, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, 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
              Do the leaf sorting experiment. put the leaf on the left side: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the leaf sorting experiment. put the leaf on the right side: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the redox reaction experiment. lift the metal plate out of the left beaker: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the redox reaction experiment. move the plate over the blue solution: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the redox reaction experiment. point at the plate with the left hand: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the redox reaction experiment. lower the plate into the blue solution: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                ch
              ...
              st<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the electroscope experiment. hold the plate still at the electroscope: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the electroscope experiment. put the plate down on the right: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the electroscope experiment. return to the home posture: struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the leaf sorting experiment. compound leaves go to the left side and simple leaves go to the righ (... 6 chars omitted): struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              Do the leaf sorting experiment. compound leaves go to the right side and simple leaves go to the lef (... 6 chars omitted): struct<train: list<item: string>, test: list<item: string>>
                child 0, train: list<item: string>
                    child 0, item: string
                child 1, test: list<item: string>
                    child 0, item: string
              to
              {'Do the leaf sorting experiment. compound leaves go to the left side and simple leaves go to the right side': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the leaf sorting experiment. compound leaves go to the right side and simple leaves go to the left side': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. lift the metal plate out of the left beaker': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. move the plate over the blue solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. point at the plate with the left hand': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. lower the plate into the blue solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. hold the plate still in the solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. raise the plate out of the solution': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. move the plate over the left beaker': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. put the plate into the left beaker': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the redox reaction experiment. return to the home posture': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. pick up the white charging plate': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. bring the plate to the electroscope and point at the metal foil': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. move the plate toward and away from the electroscope': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. rub the plate on the fur': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. hold the plate still at the electroscope': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. put the plate down on the right': {'train': List(Value('string')), 'test': List(Value('string'))}, 'Do the electroscope experiment. return to the home posture': {'train': List(Value('string')), 'test': List(Value('string'))}}
              because column names don't match

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SciEdu_text_aug

OpenArm SciEdu pi0.5 학습에 쓰는 같은 뜻 문장 목록이다. H200 학습 서버의 scripts/text_aug/를 그대로 올렸다.

형식 

{"<학습 원문(데이터셋 meta/tasks.parquet의 문장)>": {"train": ["같은 뜻 문장 6개"], "test": ["학습에 넣지 않는 같은 뜻 문장 2개"]}}
  • train은 학습 때 쓴다. test는 평가 전용이고 학습에 넣지 않는다.
  • 앞부분("Do the ... experiment. ")은 대부분 그대로 두었다. 원문마다 train 하나는 앞부분을 바꿨다(예: "Redox reaction experiment: ...").
  • left/right, dipped, "then stop above it"처럼 문장을 가르는 말은 원문과 같게 두었다.

파일

파일 원문 맞는 데이터셋
paraphrases_sciedu_ctx_v2.json 20개, 학습용 12 + 평가용 2 + 먼 평가용 2 SciEdu_291epi. SciEdu_291epi_aug_pi05 학습에 쓴다
paraphrases_sciedu_ctx.json 20개 (나뭇잎 방향 2 + Redox 9 + 검전기 7 + 맥락별 2) SciEdu_pauses_3exp_210epi_leafdir_ctx, ..._ctx2와 같은 문장을 쓰는 데이터셋
paraphrases_pauses3_leafdir.json 18개 (나뭇잎 방향 2 + Redox 9 + 검전기 7) SciEdu_pauses_3exp_210epi_leafdir
paraphrases_pauses3.json 18개 (나뭇잎 규칙 2 + Redox 9 + 검전기 7) SciEdu_pauses_3exp_210epi

학습에 넣는 법

데이터셋은 바꾸지 않는다. 학습 런처(scripts/train_pi05.py의 install_text_augmentation)가 lerobot-train의 배치 반복자(lerobot.scripts.lerobot_train.cycle)를 감싼다. 배치의 task 문장마다 확률 TEXT_AUG_P(기본 0.5)로 train 목록에서 하나를 무작위로 골라 바꾼다(시드 TEXT_AUG_SEED, 기본 0). lerobot 코드는 고치지 않고, 저장되는 전처리기도 그대로라 추론은 바뀌지 않는다.

TEXT_AUG=scripts/text_aug/paraphrases_sciedu_ctx.json TEXT_AUG_P=0.5 ...

10/4에 이 방식으로 돌린 학습(..._leafdir_textaug_pi05)은 12,798스텝에서 멈추고 버렸다. 5천 스텝까지 문장의 절반(80,262 / 160,032)이 바뀌었고, 목록에 없는 문장은 0이었다. 이 방식으로 끝까지 학습한 모델은 아직 없다.

v2: 더 다양한 표현 (2026-10-06)

운영자가 더 다양하게 넣자고 해서 build_v2.py로 만들었다. v1의 학습용 6개·평가용 2개는 그대로 두고 원문마다 다음을 더했다.

  • 학습용 6개
    • 사물 이름 바꾸기: metal strip, blue liquid, fur cloth, leaf card
    • 앞부분 꼴 바꾸기: In the ... experiment,, Redox experiment:, For the ... experiment, please, ... task.
    • 공손한 말과 문장 구조 바꾸기
  • test_far 2개: 학습에 한 번도 나오지 않는 앞부분 꼴(During the ..., We are doing ... Now, This is ... Next,)과 이름(sheet, container, pad)을 쓴다.
    • test는 학습 표현과 가까운 평가이고, test_far는 먼 평가다.

문장을 가르는 말은 build_v2.py가 기계로 검사한다: left/right, dipped, "위에서 멈춤", left beaker / blue solution, 실험 이름. 학습 런처는 train만 읽는다.
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