The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 91, in _split_generators
inferred_arrow_schema = pa.concat_tables(pa_tables, promote_options="default").schema
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "pyarrow/table.pxi", line 6320, in pyarrow.lib.concat_tables
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.ArrowTypeError: Unable to merge: Field npy has incompatible types: list<item: list<item: float>> vs list<item: list<item: list<item: int64>>>: Unable to merge: Field item has incompatible types: list<item: float> vs list<item: list<item: int64>>: Unable to merge: Field item has incompatible types: float vs list<item: int64>
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/split_names.py", line 66, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.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.
GraspNet v14 + Native-Width Labels
Precomputed training labels for GraspFormer, derived from GraspNet-1Billion. This repo contains two label sets, resampled/rebuilt into the camera frame for all 190 GraspNet scenes and sharded by scene range for convenient streaming.
Provenance and license
This is a derivative of GraspNet-1Billion. It is for academic, non-commercial use only and inherits the terms of the original GraspNet dataset. Do not use this data commercially. You must obtain the base RGB-D images, point clouds, object meshes, and original grasp annotations from the official GraspNet source: https://graspnet.net/. This repository only adds derived/resampled label tensors that are meaningless without the base dataset.
Contents
38 shards (19 per dataset), plus manifest.json (per-shard byte counts and
SHA256 checksums) and SHA256SUMS (plain-text checksums for all shards).
Total size: 353,580,811,936 bytes (~329.3 GiB / ~353.6 GB).
Each dataset is split into shards of 10 scenes each, aligned with the standard GraspNet splits:
| dataset | split | scenes | shards | bytes |
|---|---|---|---|---|
interpolation4d_v14 |
train | 0000-0099 | 10 | 121,152,250,590 |
interpolation4d_v14 |
test_seen | 0100-0129 | 3 | 43,928,534,666 |
interpolation4d_v14 |
test_similar | 0130-0159 | 3 | 36,735,407,768 |
interpolation4d_v14 |
test_novel | 0160-0189 | 3 | 30,163,615,392 |
native_width_v1 |
train | 0000-0099 | 10 | 63,898,562,560 |
native_width_v1 |
test_seen | 0100-0129 | 3 | 23,462,502,400 |
native_width_v1 |
test_similar | 0130-0159 | 3 | 20,247,879,680 |
native_width_v1 |
test_novel | 0160-0189 | 3 | 13,992,058,880 |
interpolation4d_v14 totals 231,979,808,416 bytes (216.0 GiB);
113.2 GiB).native_width_v1 totals 121,601,003,520 bytes (
Known exclusion: scene 41, view 255 is excluded from both label sets upstream — its GraspNet annotation is corrupt.
interpolation4d_v14/ — resampled 4D grasp-quality scores
GraspNet's raw grasp-quality labels resampled into each camera view, stored as
uint8 tensors of shape (N, 300, 12, 4) per view (N query points × 300
view directions × 12 in-plane rotations × 4 gripper depths), alongside the
corresponding 3D query points and validity masks. Shards are
zstd-compressed tarballs (interpolation4d_v14_scenes_XXXX-YYYY.tar.zst),
one per 10-scene range.
Extract with:
zstd -d < interpolation4d_v14_scenes_XXXX-YYYY.tar.zst | tar -x -C $GRASPNET_SAVE_DIR
native_width_v1/ — native feasible-width intervals
Sparse per-view feasible-width intervals computed directly from the ground-
truth object meshes (not resampled from the original score grid), stored as
.npz files. Shards are plain tarballs
(native_width_v1_scenes_XXXX-YYYY.tar), one per 10-scene range.
Extract with:
tar -xf native_width_v1_scenes_XXXX-YYYY.tar -C $GRASPNET_SAVE_DIR
Verifying downloads
SHA256SUMS lists sha256 filename bytes for every shard. After
downloading, verify with:
sha256sum -c SHA256SUMS
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