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UniAction-Eval

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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
id: int64
task: string
prompt: string
num_frames: int64
height: int64
width: int64
fps: int64
conditions: list<item: string>
  child 0, item: string
kind: string
to
{'id': Value('int64'), 'task': Value('string'), 'prompt': Value('string'), 'num_frames': Value('int64'), 'height': Value('int64'), 'width': Value('int64'), 'fps': Value('int64'), 'conditions': List(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
              id: int64
              task: string
              prompt: string
              num_frames: int64
              height: int64
              width: int64
              fps: int64
              conditions: list<item: string>
                child 0, item: string
              kind: string
              to
              {'id': Value('int64'), 'task': Value('string'), 'prompt': Value('string'), 'num_frames': Value('int64'), 'height': Value('int64'), 'width': Value('int64'), 'fps': Value('int64'), 'conditions': List(Value('string'))}
              because column names don't match

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UniAction-Eval

Paper · Model · Training set

107 source samples and 410 action conditions. Samples are numbered 1–107; conditions.csv lists conditions 1–410.

Task Samples Action variants Conditions
Force: ball 8 Original; direction rotated by −45°, +45°, −90°, +90° 40
Force: domino 16 Original; direction reversed (180°) 32
Force: flower 16 Original; paired recorded intervention 32
Camera control 13 W, A, S, D, I, J, K, L 104
Hand pose 20 Original; stationary; horizontal, vertical and both-axis flips 100
Robot pose 34 Original; horizontally mirrored trajectory; reversed gripper trajectory 102
Total 107 410

Samples are in eval/. Each sample includes first_frame.png, source.json, reference.mkv and its condition NPZ files.

Action-following metrics use result.score (0–1, higher is better). For hand and robot pose, this equals score_lower; score_upper is an upper bound and conditional_score describes observed tracks only.

Sources and licenses

Task Source License
Hand pose EgoDex CC BY-NC-ND
Force Goal Force MIT
Robot pose DROID CC BY 4.0
Camera control SolarWM Source terms; see LICENSE

Videos are clipped and resized, and action annotations are converted to the UniAction format. Source materials retain their original licenses.
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Paper for BowenXue/UniAction-Eval