Datasets:

titus-robots
/

titus-packing-benchmark-alpha

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
release: string
release_date: timestamp[s]
environment_repo: string
upstream_sdk_release: string
upstream_sdk_zip_sha256: string
runtime_and_physical_assets: string
starter_recipe: string
starter_initialize_box_hold: bool
teleoperation: struct<repo_id: string, revision: string, modified: bool>
  child 0, repo_id: string
  child 1, revision: string
  child 2, modified: bool
umi: struct<repo_id: string, revision: string, modified: bool>
  child 0, repo_id: string
  child 1, revision: string
  child 2, modified: bool
excluded: list<item: string>
  child 0, item: string
collection_url: string
license: string
license_scope: string
code_repository: string
code_tag: string
distribution: string
changes_since_alpha_v0_1_1: string
changes_since_alpha_v0_2_0: string
components: struct<scene: struct<filename: string, sha256: string, size_bytes: int64, files_sha256: struct<asset (... 114242 chars omitted)
  child 0, scene: struct<filename: string, sha256: string, size_bytes: int64, files_sha256: struct<assets/background/b (... 4469 chars omitted)
      child 0, filename: string
      child 1, sha256: string
      child 2, size_bytes: int64
      child 3, files_sha256: struct<assets/background/background.usda: string, assets/background/factory.usdc: string, assets/bac (... 4394 chars omitted)
          child 0, assets/background/background.usda: string
          child 1, assets/background/factory.usdc: string
          child 2, assets/background/provenance.json: string
          child 3, a
...
viewer_rerun_init_args.py: string
          child 1508, solver/site/newton/tests/test_viewer_rtx.py: string
          child 1509, solver/site/newton/tests/test_viewer_rtx_markers.py: string
          child 1510, solver/site/newton/tests/test_viewer_rtx_rendering_pause.py: string
          child 1511, solver/site/newton/tests/test_viewer_transform.py: string
          child 1512, solver/site/newton/tests/test_viewer_usd.py: string
          child 1513, solver/site/newton/tests/test_viewer_viser.py: string
          child 1514, solver/site/newton/tests/test_viewer_visible_worlds.py: string
          child 1515, solver/site/newton/tests/test_viewer_world_offsets.py: string
          child 1516, solver/site/newton/tests/test_warning_policy.py: string
          child 1517, solver/site/newton/tests/test_warp_config_cli.py: string
          child 1518, solver/site/newton/tests/thirdparty/__init__.py: string
          child 1519, solver/site/newton/tests/thirdparty/unittest_parallel.py: string
          child 1520, solver/site/newton/tests/unittest_utils.py: string
          child 1521, solver/site/newton/tests/utils/__init__.py: string
          child 1522, solver/site/newton/tests/utils/basics.py: string
          child 1523, solver/site/newton/tests/utils/testing.py: string
          child 1524, solver/site/newton/usd.py: string
          child 1525, solver/site/newton/utils.py: string
          child 1526, solver/site/newton/viewer.py: string
repo_id: string
schema_version: int64
to
{'schema_version': Value('int64'), 'release': Value('string'), 'repo_id': Value('string'), 'components': {'scene': {'filename': Value('string'), 'sha256': Value('string'), 'size_bytes': Value('int64'), 'files_sha256': {'assets/background/background.usda': Value('string'), 'assets/background/factory.usdc': Value('string'), 'assets/background/provenance.json': Value('string'), 'assets/background/source/3DGS.sog': Value('string'), 'assets/background/source/3DGS.voxel.zip': Value('string'), 'assets/background/source/cameras.json': Value('string'), 'assets/bag_source/bag.usdc': Value('string'), 'assets/bag_source/physics/parameters.json': Value('string'), 'assets/bag_source/textures/13a2cff948608b7d9af875076f669040ce956eef174c059920a0bd8a3ea72d0b.png': Value('string'), 'assets/robot/materials/dark_housing.usda': Value('string'), 'assets/robot/materials/effective_housing_color.usda': Value('string'), 'assets/robot/materials/refinement.usda': Value('string'), 'assets/robot/physics/actuators.json': Value('string'), 'assets/robot/physics/articulation.usdc': Value('string'), 'assets/robot/physics/effort_limits.json': Value('string'), 'assets/robot/physics/gripper_contacts.json': Value('string'), 'assets/robot/physics/joint_frames.urdf': Value('string'), 'assets/robot/physics/joint_map.json': Value('string'), 'assets/robot/physics/validation.json': Value('string'), 'assets/robot/robot.usda': Value('string'), 'assets/robot/visual.usdc': Value('string'), 'assets/rotary_table/geometry.usdc
...
er_plotting.py': Value('string'), 'solver/site/newton/tests/test_viewer_rendering_pause.py': Value('string'), 'solver/site/newton/tests/test_viewer_rerun_hidden.py': Value('string'), 'solver/site/newton/tests/test_viewer_rerun_init_args.py': Value('string'), 'solver/site/newton/tests/test_viewer_rtx.py': Value('string'), 'solver/site/newton/tests/test_viewer_rtx_markers.py': Value('string'), 'solver/site/newton/tests/test_viewer_rtx_rendering_pause.py': Value('string'), 'solver/site/newton/tests/test_viewer_transform.py': Value('string'), 'solver/site/newton/tests/test_viewer_usd.py': Value('string'), 'solver/site/newton/tests/test_viewer_viser.py': Value('string'), 'solver/site/newton/tests/test_viewer_visible_worlds.py': Value('string'), 'solver/site/newton/tests/test_viewer_world_offsets.py': Value('string'), 'solver/site/newton/tests/test_warning_policy.py': Value('string'), 'solver/site/newton/tests/test_warp_config_cli.py': Value('string'), 'solver/site/newton/tests/thirdparty/__init__.py': Value('string'), 'solver/site/newton/tests/thirdparty/unittest_parallel.py': Value('string'), 'solver/site/newton/tests/unittest_utils.py': Value('string'), 'solver/site/newton/tests/utils/__init__.py': Value('string'), 'solver/site/newton/tests/utils/basics.py': Value('string'), 'solver/site/newton/tests/utils/testing.py': Value('string'), 'solver/site/newton/usd.py': Value('string'), 'solver/site/newton/utils.py': Value('string'), 'solver/site/newton/viewer.py': Value('string')}}}}
because column names don't match
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 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              release: string
              release_date: timestamp[s]
              environment_repo: string
              upstream_sdk_release: string
              upstream_sdk_zip_sha256: string
              runtime_and_physical_assets: string
              starter_recipe: string
              starter_initialize_box_hold: bool
              teleoperation: struct<repo_id: string, revision: string, modified: bool>
                child 0, repo_id: string
                child 1, revision: string
                child 2, modified: bool
              umi: struct<repo_id: string, revision: string, modified: bool>
                child 0, repo_id: string
                child 1, revision: string
                child 2, modified: bool
              excluded: list<item: string>
                child 0, item: string
              collection_url: string
              license: string
              license_scope: string
              code_repository: string
              code_tag: string
              distribution: string
              changes_since_alpha_v0_1_1: string
              changes_since_alpha_v0_2_0: string
              components: struct<scene: struct<filename: string, sha256: string, size_bytes: int64, files_sha256: struct<asset (... 114242 chars omitted)
                child 0, scene: struct<filename: string, sha256: string, size_bytes: int64, files_sha256: struct<assets/background/b (... 4469 chars omitted)
                    child 0, filename: string
                    child 1, sha256: string
                    child 2, size_bytes: int64
                    child 3, files_sha256: struct<assets/background/background.usda: string, assets/background/factory.usdc: string, assets/bac (... 4394 chars omitted)
                        child 0, assets/background/background.usda: string
                        child 1, assets/background/factory.usdc: string
                        child 2, assets/background/provenance.json: string
                        child 3, a
              ...
              viewer_rerun_init_args.py: string
                        child 1508, solver/site/newton/tests/test_viewer_rtx.py: string
                        child 1509, solver/site/newton/tests/test_viewer_rtx_markers.py: string
                        child 1510, solver/site/newton/tests/test_viewer_rtx_rendering_pause.py: string
                        child 1511, solver/site/newton/tests/test_viewer_transform.py: string
                        child 1512, solver/site/newton/tests/test_viewer_usd.py: string
                        child 1513, solver/site/newton/tests/test_viewer_viser.py: string
                        child 1514, solver/site/newton/tests/test_viewer_visible_worlds.py: string
                        child 1515, solver/site/newton/tests/test_viewer_world_offsets.py: string
                        child 1516, solver/site/newton/tests/test_warning_policy.py: string
                        child 1517, solver/site/newton/tests/test_warp_config_cli.py: string
                        child 1518, solver/site/newton/tests/thirdparty/__init__.py: string
                        child 1519, solver/site/newton/tests/thirdparty/unittest_parallel.py: string
                        child 1520, solver/site/newton/tests/unittest_utils.py: string
                        child 1521, solver/site/newton/tests/utils/__init__.py: string
                        child 1522, solver/site/newton/tests/utils/basics.py: string
                        child 1523, solver/site/newton/tests/utils/testing.py: string
                        child 1524, solver/site/newton/usd.py: string
                        child 1525, solver/site/newton/utils.py: string
                        child 1526, solver/site/newton/viewer.py: string
              repo_id: string
              schema_version: int64
              to
              {'schema_version': Value('int64'), 'release': Value('string'), 'repo_id': Value('string'), 'components': {'scene': {'filename': Value('string'), 'sha256': Value('string'), 'size_bytes': Value('int64'), 'files_sha256': {'assets/background/background.usda': Value('string'), 'assets/background/factory.usdc': Value('string'), 'assets/background/provenance.json': Value('string'), 'assets/background/source/3DGS.sog': Value('string'), 'assets/background/source/3DGS.voxel.zip': Value('string'), 'assets/background/source/cameras.json': Value('string'), 'assets/bag_source/bag.usdc': Value('string'), 'assets/bag_source/physics/parameters.json': Value('string'), 'assets/bag_source/textures/13a2cff948608b7d9af875076f669040ce956eef174c059920a0bd8a3ea72d0b.png': Value('string'), 'assets/robot/materials/dark_housing.usda': Value('string'), 'assets/robot/materials/effective_housing_color.usda': Value('string'), 'assets/robot/materials/refinement.usda': Value('string'), 'assets/robot/physics/actuators.json': Value('string'), 'assets/robot/physics/articulation.usdc': Value('string'), 'assets/robot/physics/effort_limits.json': Value('string'), 'assets/robot/physics/gripper_contacts.json': Value('string'), 'assets/robot/physics/joint_frames.urdf': Value('string'), 'assets/robot/physics/joint_map.json': Value('string'), 'assets/robot/physics/validation.json': Value('string'), 'assets/robot/robot.usda': Value('string'), 'assets/robot/visual.usdc': Value('string'), 'assets/rotary_table/geometry.usdc
              ...
              er_plotting.py': Value('string'), 'solver/site/newton/tests/test_viewer_rendering_pause.py': Value('string'), 'solver/site/newton/tests/test_viewer_rerun_hidden.py': Value('string'), 'solver/site/newton/tests/test_viewer_rerun_init_args.py': Value('string'), 'solver/site/newton/tests/test_viewer_rtx.py': Value('string'), 'solver/site/newton/tests/test_viewer_rtx_markers.py': Value('string'), 'solver/site/newton/tests/test_viewer_rtx_rendering_pause.py': Value('string'), 'solver/site/newton/tests/test_viewer_transform.py': Value('string'), 'solver/site/newton/tests/test_viewer_usd.py': Value('string'), 'solver/site/newton/tests/test_viewer_viser.py': Value('string'), 'solver/site/newton/tests/test_viewer_visible_worlds.py': Value('string'), 'solver/site/newton/tests/test_viewer_world_offsets.py': Value('string'), 'solver/site/newton/tests/test_warning_policy.py': Value('string'), 'solver/site/newton/tests/test_warp_config_cli.py': Value('string'), 'solver/site/newton/tests/thirdparty/__init__.py': Value('string'), 'solver/site/newton/tests/thirdparty/unittest_parallel.py': Value('string'), 'solver/site/newton/tests/unittest_utils.py': Value('string'), 'solver/site/newton/tests/utils/__init__.py': Value('string'), 'solver/site/newton/tests/utils/basics.py': Value('string'), 'solver/site/newton/tests/utils/testing.py': Value('string'), 'solver/site/newton/usd.py': Value('string'), 'solver/site/newton/utils.py': Value('string'), 'solver/site/newton/viewer.py': Value('string')}}}}
              because column names don't match

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.

Titus Packing Benchmark · Scene Assets

Versioned scene assets for the Titus dual-arm packing environment.

Code & setup on GitHub · Complete HF collection

Existing SDK render showing the available assets; not a benchmark-success result or the six-bag starter reset.

The release is split into code and data

Component	Location
Environment code, physics adapters, scripted reference, scorers, recipes, examples, tests, and documentation	GitHub: titus-packing-benchmark
Robot/workcell USD assets, bag/carton geometry, textures, collision/tetrahedral data, optional factory background	This repository: `titus-scene-v0.2.1.zip`
Pinned Linux/Python 3.12 solver dependency snapshot	Separate download: `titus-runtime-v0.2.0.zip`
Robot teleop: 60 LeRobot segments, 162,143 frames at 60 Hz	rotary-table-rice-cakes
UMI: 21 bimanual episodes, 471 seconds, cameras/poses/gripper widths/calibration	trumi-box-bags-2026-10-16

The demonstrations stay in their existing repositories with their access-approval settings unchanged. This asset repository is public. Runtime dependencies are not demonstration data; the separate snapshot preserves the exact upstream solver files expected by the scene's integrity checks.

Start here

git clone --branch alpha-v0.2.1 https://github.com/ewinchell07/titus-packing-benchmark.git
cd titus-packing-benchmark
python3 -m venv .venv
source .venv/bin/activate
python -m pip install -r requirements-client.txt
python scripts/fetch_assets.py
python verify_package.py

The code's assets.lock.json pins an immutable HF commit, checks the archive hashes, verifies every extracted member, and installs assets into the paths expected by the SDK. It refuses to overwrite modified assets. Do not use floating main assets with a pinned code release.

Native simulation requires a separately provisioned Linux/NVIDIA environment with Isaac Sim 6.2.0.0 and Python 3.12. The soft backend retains Newton 1.7.0, Warp 1.17.0, and MuJoCo/MuJoCo-Warp 3.15.0. For setup, data formats, controls, scoring, usage tips, and limitations, use the GitHub README.

Files and reproducibility

titus-scene-v0.2.1.zip: physical/visual assets and backend scene geometry, extracted relative to the code checkout.
titus-runtime-v0.2.0.zip: exact Linux/Python 3.12 dependency overlay under solver/site/, with original license notices.
assets-manifest.json: per-archive and per-file SHA-256 identities.
SHA256SUMS: checksums of these release downloads.
release.json: upstream SDK and demonstration-dataset revisions.

Simulation code, scene geometry and physical properties remain unchanged from SDK 2026.10.28.8. This patch sanitizes scene documentation and custom metadata namespaces and updates integrity hashes. It does not upgrade physics or adopt experimental solver settings. Older combined ZIPs remain accessible at tags alpha-v0.1.0 and alpha-v0.1.1; use alpha-v0.2.1 code for the split distribution.

Alpha scope

This is an early environment-and-data release, not a finalized leaderboard. Soft-body inversions remain possible; keep physics checks enabled. Simulation cameras are approximate, the asset catalog covers one bag SKU and one carton representation, and UMI-to-YAM registration/retargeting is not supplied as validated calibration. The scripted reference is privileged and single-bag; it is not a six-bag learned-policy score. No new GPU qualification is claimed by this packaging change.

Titus-owned assets are MIT licensed. Third-party dependencies retain their original licenses; branding/trademarks are not relicensed. See LICENSE and THIRD_PARTY_NOTICES.md. Report code/integration issues on GitHub.

Downloads last month: 67

Total file size:

353 MB

Collection including titus-robots/titus-packing-benchmark-alpha

Titus Packing Benchmark — Alpha

Collection

Titus packing benchmark alpha: code and setup on GitHub; scene assets, robot teleop and bimanual UMI data on Hugging Face. Start with the scene card. • 3 items • Updated about 12 hours ago