Datasets:

songminjae
/

behavior1k-manip12

Error code:   DatasetGenerationError
Exception:    ArrowInvalid
Message:      Failed to parse string: 'unhandled_spatial:reorient' as a scalar of type double
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1848, in _prepare_split_single
                  writer.write_table(table)
                  ~~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 784, in write_table
                  self._write_table(pa_table, writer_batch_size=writer_batch_size)
                  ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 795, in _write_table
                  pa_table = table_cast(pa_table, self._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 2312, 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 2152, in cast_array_to_feature
                  return array_cast(
                      array,
                  ...<2 lines>...
                      allow_decimal_to_str=allow_decimal_to_str,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1863, in wrapper
                  return func(array, *args, **kwargs)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2015, in array_cast
                  return array.cast(pa_type)
                         ~~~~~~~~~~^^^^^^^^^
                File "pyarrow/array.pxi", line 1186, in pyarrow.lib.Array.cast
                File "/usr/local/lib/python3.14/site-packages/pyarrow/compute.py", line 414, in cast
                  return call_function("cast", [arr], options, memory_pool)
                File "pyarrow/_compute.pyx", line 604, in pyarrow._compute.call_function
                File "pyarrow/_compute.pyx", line 399, in pyarrow._compute.Function.call
                  result = GetResultValue(
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
                  raise convert_status(status)
              pyarrow.lib.ArrowInvalid: Failed to parse string: 'unhandled_spatial:reorient' as a scalar of type double
              
              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 1879, 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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task_index int64	task string	episode_index int64	split string	skill_idx int64	skill string	skill_type string	frame_start int64	frame_end int64	duration_s float64	instruction string	template string	flags null	merged_from_skill_idx string	direction null	theta_deg null	object_id string	manipulating_object_id string	spatial_prefix string	memory_prefix string
1	picking_up_trash	304	train	7	place in	coordinated	1,596	1,651	1.83	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
12	preparing_lunch_box	2,412	train	3	place on next to	uncoordinated	868	907	1.3	Place the packing box on the burner to the right of the chopping board.	place_on_next_to	null	[]	null	null	[["packing_box_210", "burner_mjvqii_0", "chopping_board_211"]]	["packing_box_210"]	[["", "", "right"]]	[]
12	preparing_lunch_box	2,492	train	3	place on next to	uncoordinated	432	472	1.33	Place the packing box on the burner to the right of the chopping board.	place_on_next_to	null	[]	null	null	[["packing_box_210", "burner_mjvqii_0", "chopping_board_211"]]	["packing_box_210"]	[["", "", "right"]]	[]
12	preparing_lunch_box	2,577	train	3	place on next to	uncoordinated	789	836	1.57	Place the packing box on the burner to the right of the chopping board.	place_on_next_to	null	[]	null	null	[["packing_box_210", "burner_mjvqii_0", "chopping_board_211"]]	["packing_box_210"]	[["", "", "right"]]	[]
12	preparing_lunch_box	2,579	test	3	place on next to	uncoordinated	855	910	1.83	Place the packing box on the burner to the right of the chopping board.	place_on_next_to	null	[]	null	null	[["packing_box_210", "burner_mjvqii_0", "chopping_board_211"]]	["packing_box_210"]	[["", "", "right"]]	[]
12	preparing_lunch_box	2,581	train	3	place on next to	uncoordinated	638	674	1.2	Place the packing box on the burner to the right of the chopping board.	place_on_next_to	null	[]	null	null	[["packing_box_210", "burner_mjvqii_0", "chopping_board_211"]]	["packing_box_210"]	[["", "", "right"]]	[]
59	organizing_art_supplies	11,991	train	3	pick up from	uncoordinated	1,770	1,827	1.9	Pick up the marker from the desk.	pick_up_from	null	[]	null	null	[["marker", "desk"]]	["marker"]	[]	[]
67	boxing_food_after_dinner	13,465	train	9	place on	uncoordinated	3,243	3,289	1.53	Place the plate on the sink.	place_on	null	[]	null	null	[["plate", "sink"]]	["plate"]	[]	[]
67	boxing_food_after_dinner	13,485	train	6	pour	uncoordinated	2,689	2,730	1.37	Pour the taco from the plate into the tupperware.	pour	null	[]	null	null	[[["taco"], "plate", "tupperware"]]	["plate"]	[]	[]
67	boxing_food_after_dinner	13,566	train	4	place on	uncoordinated	1,894	1,909	0.5	Place the tupperware on the countertop.	place_on	null	[]	null	null	[["tupperware", "countertop"]]	["tupperware"]	[]	[]
67	boxing_food_after_dinner	13,566	train	19	pick up from	uncoordinated	4,821	4,880	1.97	Pick up the tupperware from the countertop.	pick_up_from	null	[]	null	null	[["tupperware", "countertop"]]	["tupperware"]	[]	[]
67	boxing_food_after_dinner	13,578	train	9	pour	uncoordinated	3,061	3,097	1.2	Pour the taco from the plate into the tupperware.	pour	null	[]	null	null	[[["taco"], "plate", "tupperware"]]	["plate"]	[]	[]
83	store_honey	16,710	train	3	place on	navigation	599	650	1.7	Place the chair on the floor.	place_on	null	[]	null	null	[["chair", "floors"]]	["chair"]	[]	[]
1	picking_up_trash	203	test	1	pick up from	uncoordinated	120	879	25.3	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	203	test	3	pick up from	uncoordinated	2,216	3,144	30.93	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	203	test	4	place in	coordinated	3,144	3,341	6.57	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	203	test	6	pick up from	uncoordinated	4,117	5,044	30.9	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	["the other"]
1	picking_up_trash	203	test	7	place in	coordinated	5,044	5,278	7.8	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	203	test	9	pick up from	uncoordinated	5,964	6,580	20.53	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	203	test	10	place in	coordinated	6,580	7,244	22.13	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	203	test	11	place on	uncoordinated	7,244	7,497	8.43	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	208	train	1	pick up from	uncoordinated	842	1,504	22.07	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	208	train	3	pick up from	uncoordinated	2,057	2,809	25.07	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	208	train	4	place in	coordinated	2,809	3,047	7.93	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	208	train	6	pick up from	uncoordinated	3,526	3,945	13.97	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	208	train	7	place in	coordinated	3,945	4,231	9.53	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	208	train	9	pick up from	uncoordinated	4,404	4,754	11.67	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	208	train	10	place in	coordinated	4,784	5,139	11.83	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	208	train	11	place on	uncoordinated	5,140	5,520	12.67	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	209	train	1	pick up from	uncoordinated	1,240	1,726	16.2	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	209	train	3	pick up from	uncoordinated	2,537	3,372	27.83	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	209	train	4	place in	coordinated	3,372	3,630	8.6	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	209	train	6	pick up from	uncoordinated	3,909	4,783	29.13	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	209	train	7	place in	coordinated	4,783	5,133	11.67	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	209	train	9	pick up from	uncoordinated	5,343	6,033	23	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	["the other"]
1	picking_up_trash	209	train	10	place in	coordinated	6,033	6,256	7.43	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	209	train	11	place on	uncoordinated	6,257	6,846	19.63	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	212	test	1	pick up from	uncoordinated	637	1,200	18.77	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	212	test	3	pick up from	uncoordinated	1,935	2,880	31.5	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	212	test	4	place in	coordinated	2,880	3,283	13.43	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	212	test	6	pick up from	uncoordinated	3,677	5,004	44.23	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	212	test	7	place in	coordinated	5,004	5,307	10.1	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	212	test	9	pick up from	uncoordinated	5,796	6,902	36.87	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	212	test	10	place in	coordinated	6,902	7,427	17.5	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	212	test	11	place on	uncoordinated	7,427	8,186	25.3	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	216	train	1	pick up from	uncoordinated	521	1,012	16.37	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	216	train	3	pick up from	uncoordinated	2,194	2,736	18.07	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	216	train	4	place in	coordinated	2,736	3,093	11.9	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	216	train	6	pick up from	uncoordinated	4,085	4,389	10.13	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	216	train	7	place in	coordinated	4,389	4,713	10.8	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	216	train	9	pick up from	uncoordinated	5,532	5,817	9.5	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	216	train	10	place in	coordinated	5,817	6,063	8.2	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	216	train	11	place on	uncoordinated	6,063	6,240	5.9	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	220	train	1	pick up from	uncoordinated	363	862	16.63	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	220	train	3	pick up from	uncoordinated	1,296	1,744	14.93	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	220	train	4	place in	coordinated	1,744	2,029	9.5	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	220	train	6	pick up from	uncoordinated	2,433	2,782	11.63	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	220	train	7	place in	coordinated	2,782	3,057	9.17	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	220	train	9	pick up from	uncoordinated	3,340	3,689	11.63	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	220	train	10	place in	coordinated	3,690	3,932	8.07	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	220	train	11	place on	uncoordinated	3,932	4,212	9.33	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	223	test	1	pick up from	uncoordinated	615	1,497	29.4	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	223	test	3	pick up from	uncoordinated	1,662	2,222	18.67	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	223	test	4	place in	coordinated	2,222	2,400	5.93	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	223	test	6	pick up from	uncoordinated	2,682	3,587	30.17	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	223	test	7	place in	coordinated	3,587	3,870	9.43	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	223	test	9	pick up from	uncoordinated	4,512	5,274	25.4	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	223	test	10	place in	coordinated	5,274	5,582	10.27	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	223	test	11	place on	uncoordinated	5,583	6,317	24.47	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	234	train	1	pick up from	uncoordinated	297	885	19.6	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	234	train	3	pick up from	uncoordinated	1,637	2,370	24.43	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	234	train	4	place in	coordinated	2,370	2,661	9.7	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	234	train	6	pick up from	uncoordinated	3,112	4,075	32.1	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	["the other"]
1	picking_up_trash	234	train	7	place in	coordinated	4,075	4,438	12.1	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	234	train	9	pick up from	uncoordinated	4,999	5,719	24	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	234	train	10	place in	coordinated	5,720	6,060	11.33	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	234	train	11	place on	uncoordinated	6,060	6,437	12.57	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	237	train	1	pick up from	uncoordinated	401	1,115	23.8	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	237	train	3	pick up from	uncoordinated	1,719	2,755	34.53	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	237	train	4	place in	coordinated	2,768	2,979	7.03	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	237	train	6	pick up from	uncoordinated	3,178	3,756	19.27	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	237	train	7	place in	coordinated	3,757	4,026	8.97	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	237	train	9	pick up from	uncoordinated	4,529	5,408	29.3	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	["the other"]
1	picking_up_trash	237	train	10	place in	coordinated	5,409	5,715	10.2	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	237	train	11	place on	uncoordinated	5,716	6,172	15.2	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	248	test	1	pick up from	uncoordinated	684	1,533	28.3	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	248	test	3	pick up from	uncoordinated	2,382	3,109	24.23	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	248	test	4	place in	coordinated	3,109	3,428	10.63	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	248	test	6	pick up from	uncoordinated	3,928	4,419	16.37	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	248	test	7	place in	coordinated	4,434	4,667	7.77	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]
1	picking_up_trash	248	test	9	pick up from	uncoordinated	5,240	5,739	16.63	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	248	test	10	place in	coordinated	5,771	5,979	6.93	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	248	test	11	place on	uncoordinated	6,097	6,548	15.03	Place the trash can on the floor.	place_on	null	[]	null	null	[["trash_can_116", "floors_ulujpr_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	252	test	1	pick up from	uncoordinated	299	914	20.5	Pick up the trash can from the floor.	pick_up_from	null	[]	null	null	[["trash_can_116", "floors_zqjkvm_0"]]	["trash_can_116"]	[]	[]
1	picking_up_trash	252	test	3	pick up from	uncoordinated	1,329	2,300	32.37	Pick up the can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_114", "floors_ulujpr_0"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	252	test	4	place in	coordinated	2,301	2,486	6.17	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_114", "trash_can_116"]]	["can_of_soda_114"]	[]	[]
1	picking_up_trash	252	test	6	pick up from	uncoordinated	2,597	3,366	25.63	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_115", "floors_ulujpr_0"]]	["can_of_soda_115"]	[]	["the other"]
1	picking_up_trash	252	test	7	place in	coordinated	3,366	3,611	8.17	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_115", "trash_can_116"]]	["can_of_soda_115"]	[]	[]
1	picking_up_trash	252	test	9	pick up from	uncoordinated	3,985	4,526	18.03	Pick up the other can of soda from the floor.	pick_up_from	null	[]	null	null	[["can_of_soda_113", "floors_ulujpr_0"]]	["can_of_soda_113"]	[]	["the other"]
1	picking_up_trash	252	test	10	place in	coordinated	4,526	4,705	5.97	Place the can of soda in the trash can.	place_in	null	[]	null	null	[["can_of_soda_113", "trash_can_116"]]	["can_of_soda_113"]	[]	[]

End of preview.

BEHAVIOR-1K manip12 (r30) skill-segment dataset

A 12-task subset of the BEHAVIOR-1K 2026 Challenge demonstrations (behavior-1k/2026-challenge-demos, R1 Pro robot, OmniGibson), re-cut into manipulation skill segments and converted to LeRobot v2.1 format. It is the training and offline-evaluation data used in our manip12 experiments.

Source data: https://huggingface.co/datasets/behavior-1k/2026-challenge-demos (MIT). This repository redistributes a derived subset under the same MIT license.

Path	What
`lerobot/b1k_r1pro.<task>/`	One LeRobot v2.1 dataset per task (12 total): `meta/`, `data/chunk-000/.parquet`, `videos/chunk-000/{observation.images.head,observation.images.wrist_left,observation.images.wrist_right}/.mp4`
`manifests/b1k_split.json`	Train/test split per task: segment episode indices, task instruction, segment-to-source-demo map (`episode_to_demo`)
`manifests/convert_report.json`	Per-segment frame counts and conversion status (head stream)
`manifests/convert_report_wrist_left_wrist_right.json`	Same for the two wrist streams (added 2026-10-19)
`meta/selection_episodes.csv`	The 480 source demos (360 train / 120 test): source `episode_index`, `task_index`, `raw_episode_id`, `task_instance_id`, split
`meta/subtask_instructions_train/`	Skill-segment schedules used to cut the training/test segments (`train_min60.csv`, `test_min60.csv`, dropped segments, templates)
`meta/subtask_instructions_e2e_eval/`	Full schedules including move-to subtasks, used by our end-to-end simulator evaluation harness

Tasks and split

Demos were sampled at random from the source dataset: 30 train demos per task (rng seed 0) and 10 disjoint test demos per task (rng seed 1). Each demo was cut at the annotated skill boundaries; every move to (navigation) segment was dropped and segments shorter than 60 frames were removed. Each remaining segment is one LeRobot episode. Frame rate 30 fps.

task_index	task	segments train / test	frames
1	picking_up_trash	239 / 80	121,306
10	set_up_a_coffee_station_in_your_kitchen	286 / 97	158,995
12	preparing_lunch_box	442 / 149	239,764
19	outfit_a_basic_toolbox	412 / 138	392,692
28	getting_organized_for_work	830 / 268	513,516
53	tidying_living_room	311 / 102	313,182
55	re_shelving_library_books	355 / 119	215,925
59	organizing_art_supplies	299 / 100	171,176
67	boxing_food_after_dinner	415 / 141	188,746
83	store_honey	293 / 100	141,487
84	tidying_bathroom	330 / 110	298,681
89	installing_a_fax_machine	120 / 40	72,511
	total	4,332 / 1,444	2,827,981 (26.2 h)

Train and test segments live in the same per-task dataset; use manifests/b1k_split.json (train_episode_indices / test_episode_indices) to separate them. Test demos are the ones we evaluate on in simulation.

Features (per task dataset)

key	dtype	shape	notes
`observation.images.head`	video (mp4)	384 × 384 × 3	source `observation.rgb.zed_link_camera_0` (720 px head camera) resized to 384 × 384
`observation.images.wrist_left`	video (mp4)	384 × 384 × 3	source `observation.rgb.left_realsense_link_camera_0` (480 px left wrist camera) resized to 384 × 384, same frames as the head stream
`observation.images.wrist_right`	video (mp4)	384 × 384 × 3	source `observation.rgb.right_realsense_link_camera_0` (480 px right wrist camera) resized to 384 × 384, same frames as the head stream
`observation.state`	float32	[23]	joint state in the action layout (see below), derived from the 61-D source state
`action`	float32	[23]	source action, unchanged
`timestamp`, `frame_index`, `episode_index`, `index`, `task_index`			standard LeRobot fields

23-D layout (state and action): base_vx, base_vy, base_wz, torso_1..4, left_arm_1..7, left_gripper, right_arm_1..7, right_gripper. For the state, each gripper value is the mean of the two finger joints of that gripper.

Language: each segment carries the task-level instruction in meta/tasks.jsonl; per-segment skill instructions (e.g. "Pick up the trash can from the floor.") are in meta/subtask_instructions_train/*.csv, keyed by source episode_index and skill_idx.

Not included

Depth, segmentation and the other source observation streams.
Navigation (move to) segments.
Raw simulator HDF5 files needed to replay a demo in OmniGibson (available in behavior-1k/2026-challenge-rawdata; our test demos are listed in meta/selection_episodes.csv with their raw_episode_id).

Citation

Please cite the BEHAVIOR-1K benchmark and challenge dataset when using this data.

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BEHAVIOR-1K manip12 (r30) skill-segment dataset

Contents

Tasks and split

Features (per task dataset)

Not included

Citation