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/packaged_modules/json/json.py", line 290, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
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: JSON parse error: Column() changed from object to number in row 0
During handling of the above exception, another exception occurred:
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/json/json.py", line 101, in _split_generators
pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 304, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
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 68, 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.
paper-sim-n512-traces
Rollout traces for the n=512 simulated bottle-in-bin evaluation reported in Table I of the WARP-RM CoRL rebuttal.
Two arms, 512 paired scenes each:
| directory prefix | arm | bottles/scene | throughput | all-6 |
|---|---|---|---|---|
fullhz_vanilla_sh00..15 |
Vanilla BC (100% of data) | 3.885 | 237/hr | 9.4% |
fullhz_paperwarp512_sh00..15 |
WARP-BC (31.5% kept) | 4.533 | 290/hr | 25.0% |
512 traces per arm = 16 shards x 32 worlds. Each qpos_trace_NNN_sSEED.npz
holds the full qpos trajectory for one scene; the seed in the filename is the
world seed, and the same 512 seeds are used for both arms, so contrasts are
paired.
Rollout parameters
| parameter | value |
|---|---|
| horizon | 1800 control steps = 61.2 s |
| control rate | 29.4 Hz (timestep 0.002 s, decimation 17) |
| action horizon | 30 predicted, all 30 executed |
| replan | on chunk exhaustion (1.02 s open-loop blocks) |
| bottles per scene | 6 |
Execution is fully open-loop in ~1 s blocks: no temporal ensembling, no receding-horizon truncation.
Relationship to paper-sim-n128-traces
paper-sim-n128-traces remains the deterministic replay artifact (n=128,
same two arms, verified against --self-test). This repo is the larger
evaluation the headline table reports. Both are valid; use n=128 for exact
replay and n=512 for the statistics.
Reproducing
See docs/reproduce_sim.md in
uynitsuj/WARP-RM. Fresh rollouts are
stochastic (policy sampling and physics), so compare with the paired n=512
protocol rather than trace by trace.
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