Dataset Viewer
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
conversion_package_tests: struct<passed: int64, failed: int64>
child 0, passed: int64
child 1, failed: int64
ruff_format: string
ruff_check: string
full_repository_tests: struct<exit_code: int64, failed: int64, errors: int64, cause: string, log: string>
child 0, exit_code: int64
child 1, failed: int64
child 2, errors: int64
child 3, cause: string
child 4, log: string
gpu_simulation_launched: bool
data_validation: string
wrist_from_canonical: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
episodes_report: list<item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: i (... 305 chars omitted)
child 0, item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: int64>, sens (... 293 chars omitted)
child 0, task: string
child 1, demo: string
child 2, frames: int64
child 3, reference_mismatch_frames: list<item: int64>
child 0, item: int64
child 4, sensor_position_error_max_m: double
child 5, sensor_rotation_error_max_rad: double
child 6, sensor_position_error_after_first_max_m: double
child 7, sensor_rotation_error_after_first_max_rad: double
child 8, final_camera_metadata_position_error_m: double
child 9, camera_step_position_max_m: double
child 10, camera_step_rotation_max_rad: double
status: string
published: bool
rotation_tolerance_rad: double
array_sha256: struct<hando
...
child 9, dextraverse_pose_reference_rotation_error_rad: string
child 2, stack_cube: struct<left_wrist_pose: string, right_wrist_pose: string, camera_ego_pose: string, dextraverse_camer (... 266 chars omitted)
child 0, left_wrist_pose: string
child 1, right_wrist_pose: string
child 2, camera_ego_pose: string
child 3, dextraverse_camera_sync_pose: string
child 4, dextraverse_camera_warmup_estimate: string
child 5, camera_main_pose: string
child 6, camera_side_pose: string
child 7, dextraverse_pose_reference_valid: string
child 8, dextraverse_pose_reference_position_error_m: string
child 9, dextraverse_pose_reference_rotation_error_rad: string
position_tolerance_m: double
frames: int64
warmup_camera_estimates: int64
episodes: int64
urdf_sha256: string
coordinate_frame: string
summary: struct<sensor_reference_passed_frames: int64, sensor_reference_mismatch_first_frames: int64, sensor_ (... 291 chars omitted)
child 0, sensor_reference_passed_frames: int64
child 1, sensor_reference_mismatch_first_frames: int64
child 2, sensor_position_error_after_first_max_m: double
child 3, sensor_rotation_error_after_first_max_rad: double
child 4, final_camera_metadata_position_error_max_m: double
child 5, camera_capture_to_sync_position_step_max_m: double
child 6, camera_capture_to_sync_rotation_step_max_rad: double
child 7, not_a_camera_exposure_error_bound: bool
camera_timing: string
reference_mismatch_frames: int64
to
{'status': Value('string'), 'published': Value('bool'), 'frames': Value('int64'), 'episodes': Value('int64'), 'urdf_sha256': Value('string'), 'position_tolerance_m': Value('float64'), 'rotation_tolerance_rad': Value('float64'), 'reference_mismatch_frames': Value('int64'), 'warmup_camera_estimates': Value('int64'), 'coordinate_frame': Value('string'), 'wrist_from_canonical': List(List(Value('float64'))), 'camera_timing': Value('string'), 'episodes_report': List({'task': Value('string'), 'demo': Value('string'), 'frames': Value('int64'), 'reference_mismatch_frames': List(Value('int64')), 'sensor_position_error_max_m': Value('float64'), 'sensor_rotation_error_max_rad': Value('float64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_m': Value('float64'), 'camera_step_position_max_m': Value('float64'), 'camera_step_rotation_max_rad': Value('float64')}), 'array_sha256': {'handover': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'pick_and_place': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'stack_cube': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}}, 'summary': {'sensor_reference_passed_frames': Value('int64'), 'sensor_reference_mismatch_first_frames': Value('int64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_max_m': Value('float64'), 'camera_capture_to_sync_position_step_max_m': Value('float64'), 'camera_capture_to_sync_rotation_step_max_rad': Value('float64'), 'not_a_camera_exposure_error_bound': Value('bool')}}
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
conversion_package_tests: struct<passed: int64, failed: int64>
child 0, passed: int64
child 1, failed: int64
ruff_format: string
ruff_check: string
full_repository_tests: struct<exit_code: int64, failed: int64, errors: int64, cause: string, log: string>
child 0, exit_code: int64
child 1, failed: int64
child 2, errors: int64
child 3, cause: string
child 4, log: string
gpu_simulation_launched: bool
data_validation: string
wrist_from_canonical: list<item: list<item: double>>
child 0, item: list<item: double>
child 0, item: double
episodes_report: list<item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: i (... 305 chars omitted)
child 0, item: struct<task: string, demo: string, frames: int64, reference_mismatch_frames: list<item: int64>, sens (... 293 chars omitted)
child 0, task: string
child 1, demo: string
child 2, frames: int64
child 3, reference_mismatch_frames: list<item: int64>
child 0, item: int64
child 4, sensor_position_error_max_m: double
child 5, sensor_rotation_error_max_rad: double
child 6, sensor_position_error_after_first_max_m: double
child 7, sensor_rotation_error_after_first_max_rad: double
child 8, final_camera_metadata_position_error_m: double
child 9, camera_step_position_max_m: double
child 10, camera_step_rotation_max_rad: double
status: string
published: bool
rotation_tolerance_rad: double
array_sha256: struct<hando
...
child 9, dextraverse_pose_reference_rotation_error_rad: string
child 2, stack_cube: struct<left_wrist_pose: string, right_wrist_pose: string, camera_ego_pose: string, dextraverse_camer (... 266 chars omitted)
child 0, left_wrist_pose: string
child 1, right_wrist_pose: string
child 2, camera_ego_pose: string
child 3, dextraverse_camera_sync_pose: string
child 4, dextraverse_camera_warmup_estimate: string
child 5, camera_main_pose: string
child 6, camera_side_pose: string
child 7, dextraverse_pose_reference_valid: string
child 8, dextraverse_pose_reference_position_error_m: string
child 9, dextraverse_pose_reference_rotation_error_rad: string
position_tolerance_m: double
frames: int64
warmup_camera_estimates: int64
episodes: int64
urdf_sha256: string
coordinate_frame: string
summary: struct<sensor_reference_passed_frames: int64, sensor_reference_mismatch_first_frames: int64, sensor_ (... 291 chars omitted)
child 0, sensor_reference_passed_frames: int64
child 1, sensor_reference_mismatch_first_frames: int64
child 2, sensor_position_error_after_first_max_m: double
child 3, sensor_rotation_error_after_first_max_rad: double
child 4, final_camera_metadata_position_error_max_m: double
child 5, camera_capture_to_sync_position_step_max_m: double
child 6, camera_capture_to_sync_rotation_step_max_rad: double
child 7, not_a_camera_exposure_error_bound: bool
camera_timing: string
reference_mismatch_frames: int64
to
{'status': Value('string'), 'published': Value('bool'), 'frames': Value('int64'), 'episodes': Value('int64'), 'urdf_sha256': Value('string'), 'position_tolerance_m': Value('float64'), 'rotation_tolerance_rad': Value('float64'), 'reference_mismatch_frames': Value('int64'), 'warmup_camera_estimates': Value('int64'), 'coordinate_frame': Value('string'), 'wrist_from_canonical': List(List(Value('float64'))), 'camera_timing': Value('string'), 'episodes_report': List({'task': Value('string'), 'demo': Value('string'), 'frames': Value('int64'), 'reference_mismatch_frames': List(Value('int64')), 'sensor_position_error_max_m': Value('float64'), 'sensor_rotation_error_max_rad': Value('float64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_m': Value('float64'), 'camera_step_position_max_m': Value('float64'), 'camera_step_rotation_max_rad': Value('float64')}), 'array_sha256': {'handover': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'pick_and_place': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}, 'stack_cube': {'left_wrist_pose': Value('string'), 'right_wrist_pose': Value('string'), 'camera_ego_pose': Value('string'), 'dextraverse_camera_sync_pose': Value('string'), 'dextraverse_camera_warmup_estimate': Value('string'), 'camera_main_pose': Value('string'), 'camera_side_pose': Value('string'), 'dextraverse_pose_reference_valid': Value('string'), 'dextraverse_pose_reference_position_error_m': Value('string'), 'dextraverse_pose_reference_rotation_error_rad': Value('string')}}, 'summary': {'sensor_reference_passed_frames': Value('int64'), 'sensor_reference_mismatch_first_frames': Value('int64'), 'sensor_position_error_after_first_max_m': Value('float64'), 'sensor_rotation_error_after_first_max_rad': Value('float64'), 'final_camera_metadata_position_error_max_m': Value('float64'), 'camera_capture_to_sync_position_step_max_m': Value('float64'), 'camera_capture_to_sync_rotation_step_max_rad': Value('float64'), 'not_a_camera_exposure_error_bound': Value('bool')}}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
SharpaTacData
Dexterous manipulation data with fingertip tactile sensing from the DextraVerse project (MARS Lab, Nanyang Technological University): a Dexmate Vega dual-arm robot with two 22-DoF SharpaWave hands. Everything is in the Open-X-Tactile format (the FTP-1 zarr layout); the Open-X-Tactile site documents the format and how to load it.
All archives live in DextraVerse/, which holds two sub-datasets:
| Folder | Data | Tasks | Episodes | Frames | Archives |
|---|---|---|---|---|---|
DextraVerse/SharpaTacData.tar |
real robot | 1 (pick up a cube, place it in a box) | 261 | 138,382 | SharpaTacData.tar (43 GB) |
DextraVerse/<task>.zarr.zip |
simulation (Isaac) | 3 (handover, pick and place, stack cube) | 300 | 135,734 | three <task>.zarr.zip (25 GB) |
Each sub-dataset has its own README with the array list, conventions and known limitations. The two share the robot, the hand-joint slot assignment and the wrist-frame convention; they differ in sensors (real SharpaWave fingertips versus synthetic deformation maps and PhysX contact forces), cameras and tactile group names. Read the sub-dataset README before mixing them.
SHA256SUMS.txt lists the hash of every archive:
sha256sum -c SHA256SUMS.txt
tar -xf DextraVerse/SharpaTacData.tar # -> SharpaTacData/pick_cube_place_box.zarr
unzip DextraVerse/handover.zarr.zip # -> handover.zarr (ZIP64)
License and contact
Released under CC BY 4.0. Contact: xiangyu.chen@ntu.edu.sg
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