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
episode_0: struct<cluttered_table_info: list<item: struct<object_type: string, object_index: string>>, texture_ (... 596 chars omitted)
child 0, cluttered_table_info: list<item: struct<object_type: string, object_index: string>>
child 0, item: struct<object_type: string, object_index: string>
child 0, object_type: string
child 1, object_index: string
child 1, texture_info: struct<wall_texture: string, table_texture: string>
child 0, wall_texture: string
child 1, table_texture: string
child 2, info: struct<{A}: string, {B}: string, {a}: string>
child 0, {A}: string
child 1, {B}: string
child 2, {a}: string
child 3, task_info: struct<task_family: string, experiment_split: string, object_split: string, object_ood_type: null, o (... 33 chars omitted)
child 0, task_family: string
child 1, experiment_split: string
child 2, object_split: string
child 3, object_ood_type: null
child 4, object_in_training_category: bool
child 4, scene_info: struct<experiment_split: string, object_split: string, object_ood_type: null, object_in_training_cat (... 225 chars omitted)
child 0, experiment_split: string
child 1, object_split: string
child 2, object_ood_type: null
child 3, object_in_training_category: bool
child 4, object_modelname: string
child 5, object_id: int64
child 6, object_label: string
child 7, container_modelname: string
child 8, contai
...
ct_index: string>
child 0, object_type: string
child 1, object_index: string
child 1, texture_info: struct<wall_texture: string, table_texture: string>
child 0, wall_texture: string
child 1, table_texture: string
child 2, info: struct<{A}: string, {B}: string, {a}: string>
child 0, {A}: string
child 1, {B}: string
child 2, {a}: string
child 3, task_info: struct<task_family: string, experiment_split: string, object_split: string, object_ood_type: null, o (... 33 chars omitted)
child 0, task_family: string
child 1, experiment_split: string
child 2, object_split: string
child 3, object_ood_type: null
child 4, object_in_training_category: bool
child 4, scene_info: struct<experiment_split: string, object_split: string, object_ood_type: null, object_in_training_cat (... 225 chars omitted)
child 0, experiment_split: string
child 1, object_split: string
child 2, object_ood_type: null
child 3, object_in_training_category: bool
child 4, object_modelname: string
child 5, object_id: int64
child 6, object_label: string
child 7, container_modelname: string
child 8, container_id: int64
child 9, container_label: string
child 10, target_type: string
child 11, target_id: int64
child 12, seed: int64
child 13, spawn_side: string
seen: list<item: string>
child 0, item: string
unseen: list<item: string>
child 0, item: string
to
{'seen': List(Value('string')), 'unseen': List(Value('string'))}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
return get_rows(
^^^^^^^^^
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 77, in get_rows
rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 299, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 128, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2321, in table_cast
return cast_table_to_schema(table, schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2249, in cast_table_to_schema
raise CastError(
datasets.table.CastError: Couldn't cast
episode_0: struct<cluttered_table_info: list<item: struct<object_type: string, object_index: string>>, texture_ (... 596 chars omitted)
child 0, cluttered_table_info: list<item: struct<object_type: string, object_index: string>>
child 0, item: struct<object_type: string, object_index: string>
child 0, object_type: string
child 1, object_index: string
child 1, texture_info: struct<wall_texture: string, table_texture: string>
child 0, wall_texture: string
child 1, table_texture: string
child 2, info: struct<{A}: string, {B}: string, {a}: string>
child 0, {A}: string
child 1, {B}: string
child 2, {a}: string
child 3, task_info: struct<task_family: string, experiment_split: string, object_split: string, object_ood_type: null, o (... 33 chars omitted)
child 0, task_family: string
child 1, experiment_split: string
child 2, object_split: string
child 3, object_ood_type: null
child 4, object_in_training_category: bool
child 4, scene_info: struct<experiment_split: string, object_split: string, object_ood_type: null, object_in_training_cat (... 225 chars omitted)
child 0, experiment_split: string
child 1, object_split: string
child 2, object_ood_type: null
child 3, object_in_training_category: bool
child 4, object_modelname: string
child 5, object_id: int64
child 6, object_label: string
child 7, container_modelname: string
child 8, contai
...
ct_index: string>
child 0, object_type: string
child 1, object_index: string
child 1, texture_info: struct<wall_texture: string, table_texture: string>
child 0, wall_texture: string
child 1, table_texture: string
child 2, info: struct<{A}: string, {B}: string, {a}: string>
child 0, {A}: string
child 1, {B}: string
child 2, {a}: string
child 3, task_info: struct<task_family: string, experiment_split: string, object_split: string, object_ood_type: null, o (... 33 chars omitted)
child 0, task_family: string
child 1, experiment_split: string
child 2, object_split: string
child 3, object_ood_type: null
child 4, object_in_training_category: bool
child 4, scene_info: struct<experiment_split: string, object_split: string, object_ood_type: null, object_in_training_cat (... 225 chars omitted)
child 0, experiment_split: string
child 1, object_split: string
child 2, object_ood_type: null
child 3, object_in_training_category: bool
child 4, object_modelname: string
child 5, object_id: int64
child 6, object_label: string
child 7, container_modelname: string
child 8, container_id: int64
child 9, container_label: string
child 10, target_type: string
child 11, target_id: int64
child 12, seed: int64
child 13, spawn_side: string
seen: list<item: string>
child 0, item: string
unseen: list<item: string>
child 0, item: string
to
{'seen': List(Value('string')), 'unseen': List(Value('string'))}
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.
Piper Pick-Place Raw RGB+tactile Dataset
Current repository ID: Alexxz3/robotwin_piper.
Purpose
This dataset/artifact repository contains canonical raw RoboTwin Piper RGB+tactile rollouts for the Alexxz3 Piper pick-and-place release.
Release context
The release supports reproducible simulation evaluation, LeRobot-compatible training data, pi0.5/ACT policy work, RGB and RGB+tactile modalities, and future real-world deployment on the AgileX Piper arm. Keep/delete decisions are documented in docs/release/hf_asset_inventory.md. Keep the raw dataset, LeRobot RGB+tactile dataset, LeRobot RGB-only dataset, and final model repos under Alexxz3; helper asset and source-archive repos are not required.
Dataset schema
Raw RoboTwin rollouts preserve simulator episode structure. LeRobot datasets expose RGB camera observations, robot proprioception, actions, and, for RGB+tactile, tactile arrays and masks from the fingertip sensors. RGB-only remains available because it is a smaller compatibility dataset with modality-specific normalization and metadata, even though RGB+tactile contains the richer sensor stream.
Evaluation linkage
Final model-card results use the randomized in-distribution eval_id suite: bottle, can, toy car, and shampoo with 25 episodes per task. See docs/piper_id_eval_report.md for the full table and analysis.
Limitations
This data is simulation data and does not certify real-world behavior. Tactile deployment requires matching sensor layout, calibration, masking, and normalization statistics.
License
Released under Apache-2.0 unless upstream RoboTwin, LeRobot, OpenPI/pi0.5, ACT, or object-asset dependencies impose additional obligations.
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