The dataset viewer is not available for this split.
Error code: FeaturesError
Exception: FileNotFoundError
Message: [Errno 2] No such file or directory: '<datasets.utils.file_utils.FilesIterable object at 0x7fe509fda570>'
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 243, in compute_first_rows_from_streaming_response
iterable_dataset = iterable_dataset._resolve_features()
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 4379, in _resolve_features
features = _infer_features_from_batch(self.with_format(None)._head())
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2661, in _head
return next(iter(self.iter(batch_size=n)))
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2839, in iter
for key, pa_table in ex_iterable.iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2377, in _iter_arrow
yield from self.ex_iterable._iter_arrow()
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, 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/xml/xml.py", line 67, in _generate_tables
with open(file, encoding=self.config.encoding, errors=self.config.encoding_errors) as f:
~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/streaming.py", line 73, in wrapper
return function(*args, download_config=download_config, **kwargs)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 967, in xopen
return open(main_hop, mode, *args, **kwargs)
FileNotFoundError: [Errno 2] No such file or directory: '<datasets.utils.file_utils.FilesIterable object at 0x7fe509fda570>'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.
Sim Bottles — MuJoCo-Warp v1
This release is the public evaluation and reward-model dataset for the WARP-RM simulated put the plastic bottles in the bin task. It is a LeRobot-v3 dataset with 2,438 episodes, 2,228,979 frames, three RGB cameras, and 30 Hz actions and states.
What was re-rendered and why
The public ABC corpus downloaded by prepare.py --full provides the original
30 Hz episodes (episode identity, actions, and state). WARP-RM evaluates in
MuJoCo-Warp, so we replayed the original full qpos at 30 Hz through the
evaluation-matched MuJoCo-Warp scene and cameras. The resulting RGB frames
are therefore intentionally renderer-different—not pixel-identical to the
source MJGL frames—but correspond to the same episode trajectories, scenes,
and cameras.
The LeRobot data and metadata preserve the source episode indices, splits,
actions, and state. Two of the 2,438 public source episodes have no available
full-qpos scene supplement; their original MJGL RGB videos are retained and
they are explicitly identified in supplemental/no_full_state_episodes.json.
Layout
data/,videos/, andmeta/are the ready-to-use LeRobot dataset.supplemental/full_state/<episode_uuid>.npycontains original full qpos for the 2,436 re-renderable episodes.supplemental/scenes/<episode_uuid>.xmlcontains portable, relative-path MuJoCo scene XML for replay.supplemental/assets/contains the associated MuJoCo assets. The includedi2rt_yam/LICENSEpreserves its MIT attribution.supplemental/render_manifest.jsonmaps LeRobot episode index to public episode UUID, split, renderer, and available supplemental files.supplemental/gt_staircase/provides fixed simulation staircase artifacts used by the public evaluator.
No reward-model predictions, internal paths, feature caches, raw source-capture files, or intermediate training artifacts are included.
Provenance and intended use
Use this dataset for the public WARP-RM simulation reproduction recipe. The
canonical source download remains available from the ABC repository through
prepare.py --full; this dataset provides its MuJoCo-Warp rendering and the
full-qpos replay supplement needed to reproduce the paper evaluator.
The release is provided under CC BY 4.0. Please retain attribution to the WARP-RM and ABC releases and the bundled third-party asset notices.
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