The dataset viewer is not available for this split.
Error code: StreamingRowsError
Exception: TypeError
Message: Couldn't cast array of type
struct<simulation_completed: bool, validation_profile_matches_spec: bool, task_success: bool, same_original_destination: bool, same_destination_height: bool, sustained_rack_support: bool, target_released: bool, target_settled: bool, obstruction_grasped: bool, obstruction_lifted: bool, obstruction_removed_before_target: bool, obstruction_released: bool, obstruction_settled: bool, obstruction_supported_on_table: bool, strategy_matches_profile: bool, audited_source_obstruction: bool, obstruction_at_clear_location: bool, no_unintended_contacts_above_0_05N: bool, surroundings_stationary: bool, nonempty: bool, uniform_timestamps: bool, action_timing: bool, state_action_shapes: bool, camera_sync: bool, finite_numeric_data: bool, measured_gripper_convention: bool, commanded_gripper_convention: bool, gripper_bounds: bool, correct_arm_order: bool, declared_capture_rate: bool, initial_robot_state: bool, three_cameras: bool, camera_identity_version: bool, camera_pose_calibration: bool, wall_image_count: bool, wrist_image_count: bool, body_forward_image_count: bool, distinct_camera_views: bool>
to
{'simulation_completed': Value('bool'), 'validation_profile_matches_spec': Value('bool'), 'task_success': Value('bool'), 'same_original_destination': Value('bool'), 'same_destination_height': Value('bool'), 'sustained_rack_support': Value('bool'), 'target_released': Value('bool'), 'target_settled': Value('bool'), 'obstruction_released': Value('bool'), 'obstruction_settled': Value('bool'), 'obstruction_supported_on_table': Value('bool'), 'strategy_matches_profile': Value('bool'), 'audited_source_obstruction': Value('bool'), 'no_clearing_claim_for_detour': Value('bool'), 'no_unintended_contacts_above_0_05N': Value('bool'), 'surroundings_stationary': Value('bool'), 'nonempty': Value('bool'), 'uniform_timestamps': Value('bool'), 'action_timing': Value('bool'), 'state_action_shapes': Value('bool'), 'camera_sync': Value('bool'), 'finite_numeric_data': Value('bool'), 'measured_gripper_convention': Value('bool'), 'commanded_gripper_convention': Value('bool'), 'gripper_bounds': Value('bool'), 'correct_arm_order': Value('bool'), 'declared_capture_rate': Value('bool'), 'initial_robot_state': Value('bool'), 'three_cameras': Value('bool'), 'camera_identity_version': Value('bool'), 'camera_pose_calibration': Value('bool'), 'wall_image_count': Value('bool'), 'wrist_image_count': Value('bool'), 'body_forward_image_count': Value('bool'), 'distinct_camera_views': Value('bool')}
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 149, 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 129, 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 544, 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 3052, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, 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 558, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, 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 361, 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 2381, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2315, in cast_table_to_schema
cast_array_to_feature(
~~~~~~~~~~~~~~~~~~~~~^
table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
feature,
^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1861, in wrapper
return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
~~~~^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2161, in cast_array_to_feature
raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
TypeError: Couldn't cast array of type
struct<simulation_completed: bool, validation_profile_matches_spec: bool, task_success: bool, same_original_destination: bool, same_destination_height: bool, sustained_rack_support: bool, target_released: bool, target_settled: bool, obstruction_grasped: bool, obstruction_lifted: bool, obstruction_removed_before_target: bool, obstruction_released: bool, obstruction_settled: bool, obstruction_supported_on_table: bool, strategy_matches_profile: bool, audited_source_obstruction: bool, obstruction_at_clear_location: bool, no_unintended_contacts_above_0_05N: bool, surroundings_stationary: bool, nonempty: bool, uniform_timestamps: bool, action_timing: bool, state_action_shapes: bool, camera_sync: bool, finite_numeric_data: bool, measured_gripper_convention: bool, commanded_gripper_convention: bool, gripper_bounds: bool, correct_arm_order: bool, declared_capture_rate: bool, initial_robot_state: bool, three_cameras: bool, camera_identity_version: bool, camera_pose_calibration: bool, wall_image_count: bool, wrist_image_count: bool, body_forward_image_count: bool, distinct_camera_views: bool>
to
{'simulation_completed': Value('bool'), 'validation_profile_matches_spec': Value('bool'), 'task_success': Value('bool'), 'same_original_destination': Value('bool'), 'same_destination_height': Value('bool'), 'sustained_rack_support': Value('bool'), 'target_released': Value('bool'), 'target_settled': Value('bool'), 'obstruction_released': Value('bool'), 'obstruction_settled': Value('bool'), 'obstruction_supported_on_table': Value('bool'), 'strategy_matches_profile': Value('bool'), 'audited_source_obstruction': Value('bool'), 'no_clearing_claim_for_detour': Value('bool'), 'no_unintended_contacts_above_0_05N': Value('bool'), 'surroundings_stationary': Value('bool'), 'nonempty': Value('bool'), 'uniform_timestamps': Value('bool'), 'action_timing': Value('bool'), 'state_action_shapes': Value('bool'), 'camera_sync': Value('bool'), 'finite_numeric_data': Value('bool'), 'measured_gripper_convention': Value('bool'), 'commanded_gripper_convention': Value('bool'), 'gripper_bounds': Value('bool'), 'correct_arm_order': Value('bool'), 'declared_capture_rate': Value('bool'), 'initial_robot_state': Value('bool'), 'three_cameras': Value('bool'), 'camera_identity_version': Value('bool'), 'camera_pose_calibration': Value('bool'), 'wall_image_count': Value('bool'), 'wrist_image_count': Value('bool'), 'body_forward_image_count': Value('bool'), 'distinct_camera_views': Value('bool')}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.
Isaac Sim augmented robot demonstrations
154 accepted motion variants from 43 real source episodes, with 462 camera videos and 154 synchronized robot-data files. The user stopped generation at this snapshot; the planned six variants per source were not all generated.
Videos are 640 × 480, 15 FPS, H.264 (CRF 18), with wall, wrist, and body-forward views. The MP4 files total 844.25 MB; synchronized HDF5 files total 45.06 MB. These are the original completed MP4s, copied without re-encoding.
Task and generation
The simulated UR5e + Robotiq 2F-140 completes cup-to-rack tasks with added obstacles and clutter.
Most variants require physically removing an obstacle before placing the target cup at its recorded destination.
Supplemental historical scenarios include obstacle-clearing and detour motions; inspect each variant's
strategy, validation_profile, and instruction rather than assuming every task has the same obstacle requirement.
Validation profile counts: {'legacy_detour': 9, 'legacy_clearance': 11, 'required_clearance': 134}.
Motions use scripted/pose-feedback control and Isaac Sim physics. They were collected for downstream robot learning, including pi0.5 fine-tuning; they were not generated by a trained pi0.5 policy. Initial robot configurations follow their source recordings rather than a shared home configuration. HQ R1Pro scene-development videos are separate and are not included here.
Files and pairing
videos/episodeXXXX/variationYY_{wall,wrist,body_forward}.mp4: three views of the same motion.robot_data/episodeXXXX_variationYY.hdf5: measured states, actions, timestamps, phases, and camera poses.metadata.jsonl: one row per motion, with instruction, source episode, variant ID, split, and relative file paths.manifest.json: counts and complete inventory.validation/: accepted physical and camera-validation results for each motion.capture_settings.json,data_schema.json: rendering settings and numeric-data conventions.checksums.json: SHA-256 and byte size for every other published file.
Video frame i corresponds to HDF5 row i at timestamp[i] in all three cameras.
Images/state precede the command: action[i] is held over [timestamp[i], action_end_timestamp[i]).
State and action are both seven-dimensional: six arm joints in radians and a normalized gripper value.
Actions are absolute joint targets. Gripper convention is 1 - native/255, with 1=open and 0=closed.
Control and camera rate is 15 Hz; physics/contact logs use 300 Hz.
The intended downstream action horizon is 50 steps (3.33 seconds).
This publication is a video + HDF5 archive, not a packaged LeRobot/OpenPI training export.
Use the metadata and schema when adapting it to a training loader. No training run is included.
Train/validation splits are grouped by original source episode; variants from one source stay together.
Validation source IDs are 7, 14, 21, 28, and 35. Motion split counts: {'train': 137, 'validation': 17}.
Verification and scope
Only accepted, synchronized captures are published. Each MP4 was fully decoded during local delivery validation; publication verifies that its SHA-256 still matches that decoded file. HDF5 numeric/timing checks are rerun for publication. Per-variant validation profiles distinguish destination-blocking tasks from supplemental detour/clearing tasks. Simulator validation is not a claim of real-robot safety or transfer. Inherited robot self-collision checking was disabled, as recorded in the capture settings.
Source recordings, raw PNG frames, third-party meshes, and failed attempts are not included. The HDF5 source/provenance attributes retain original local references for audit; file pairing uses the portable paths in this repository's metadata. No new license for upstream materials is asserted here.
Download
hf download mmahdavian/isaac_sim_augmented --repo-type dataset --local-dir isaac_sim_augmented
Coverage
| Source episode | Motion variants | Camera videos |
|---|---|---|
| 0 | 4 | 12 |
| 1 | 5 | 15 |
| 2 | 5 | 15 |
| 3 | 5 | 15 |
| 4 | 5 | 15 |
| 5 | 1 | 3 |
| 6 | 5 | 15 |
| 7 | 5 | 15 |
| 8 | 5 | 15 |
| 9 | 5 | 15 |
| 10 | 5 | 15 |
| 11 | 5 | 15 |
| 12 | 2 | 6 |
| 13 | 2 | 6 |
| 14 | 2 | 6 |
| 15 | 2 | 6 |
| 16 | 5 | 15 |
| 17 | 2 | 6 |
| 18 | 2 | 6 |
| 19 | 2 | 6 |
| 20 | 2 | 6 |
| 21 | 1 | 3 |
| 22 | 1 | 3 |
| 23 | 1 | 3 |
| 24 | 5 | 15 |
| 25 | 5 | 15 |
| 26 | 5 | 15 |
| 27 | 5 | 15 |
| 28 | 5 | 15 |
| 29 | 4 | 12 |
| 30 | 1 | 3 |
| 31 | 4 | 12 |
| 32 | 4 | 12 |
| 33 | 4 | 12 |
| 34 | 4 | 12 |
| 35 | 4 | 12 |
| 36 | 1 | 3 |
| 37 | 4 | 12 |
| 38 | 4 | 12 |
| 39 | 4 | 12 |
| 40 | 4 | 12 |
| 41 | 4 | 12 |
| 42 | 4 | 12 |
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