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
asset: string
usd: struct<dependencies_resolved: bool, particle_count: int64, partitions: list<item: int64>, ground_z: (... 60 chars omitted)
child 0, dependencies_resolved: bool
child 1, particle_count: int64
child 2, partitions: list<item: int64>
child 0, item: int64
child 3, ground_z: double
child 4, ground_height_range: double
child 5, collision_count: int64
usdz: struct<dependencies_resolved: bool, particle_count: int64, partitions: list<item: int64>, ground_z: (... 60 chars omitted)
child 0, dependencies_resolved: bool
child 1, particle_count: int64
child 2, partitions: list<item: int64>
child 0, item: int64
child 3, ground_z: double
child 4, ground_height_range: double
child 5, collision_count: int64
to
{'usd': {'dependencies_resolved': Value('bool'), 'particle_count': Value('int64'), 'partitions': List(Value('int64')), 'ground_z': Value('float64'), 'ground_height_range': Value('float64'), 'collision_count': Value('int64')}, 'usdz': {'dependencies_resolved': Value('bool'), 'particle_count': Value('int64'), 'partitions': List(Value('int64')), 'ground_z': Value('float64'), 'ground_height_range': Value('float64'), 'collision_count': Value('int64')}}
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
asset: string
usd: struct<dependencies_resolved: bool, particle_count: int64, partitions: list<item: int64>, ground_z: (... 60 chars omitted)
child 0, dependencies_resolved: bool
child 1, particle_count: int64
child 2, partitions: list<item: int64>
child 0, item: int64
child 3, ground_z: double
child 4, ground_height_range: double
child 5, collision_count: int64
usdz: struct<dependencies_resolved: bool, particle_count: int64, partitions: list<item: int64>, ground_z: (... 60 chars omitted)
child 0, dependencies_resolved: bool
child 1, particle_count: int64
child 2, partitions: list<item: int64>
child 0, item: int64
child 3, ground_z: double
child 4, ground_height_range: double
child 5, collision_count: int64
to
{'usd': {'dependencies_resolved': Value('bool'), 'particle_count': Value('int64'), 'partitions': List(Value('int64')), 'ground_z': Value('float64'), 'ground_height_range': Value('float64'), 'collision_count': Value('int64')}, 'usdz': {'dependencies_resolved': Value('bool'), 'particle_count': Value('int64'), 'partitions': List(Value('int64')), 'ground_z': Value('float64'), 'ground_height_range': Value('float64'), 'collision_count': Value('int64')}}
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.
humanoidBench scene assets
Flat-ground navigation edition
The latest flat-ground edition is in cvpr/flat_navigation/. All 11 scenes have a horizontal main-level visual floor and a static ground collider at world Z=0. Start with the same-name .usdz package to include all referenced layers.
Validation: 3,179 PhysX downward rays, 55 drop probes (30 kg each), USD/USDZ dependency checks, and 99 actual RTX review images. The floor height range is zero. See per-asset physics_validation.json, validation.json, and report.json.
Scope: Ground collision only. Gaussian furniture, walls, stairs and upper platforms remain visual assets without obstacle colliders. Upper platforms are outside the flat navigation level. A humanoid controller or locomotion policy has not been tested. Robot root spawn height must account for its foot-to-root offset. Scene coordinates were leveled; the transform is recorded in each report.
| Flat-ground asset | Packaged USD | RTX review |
|---|---|---|
| ARC_B2 | USDZ | 9 views |
| ATMRI | USDZ | 9 views |
| bookstore | USDZ | 9 views |
| conferencehall | USDZ | 9 views |
| office | USDZ | 9 views |
| penthouse1 | USDZ | 9 views |
| penthouse2 | USDZ | 9 views |
| penthouse3 | USDZ | 9 views |
| room2 | USDZ | 9 views |
| roomtour | USDZ | 9 views |
| sculpture | USDZ | 9 views |
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