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KillerBoss
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trainrobot-motionclips

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The dataset generation failed because of a cast error
Error code:   DatasetGenerationCastError
Exception:    DatasetGenerationCastError
Message:      An error occurred while generating the dataset

All the data files must have the same columns, but at some point there are 36 new columns ({'0.000000.18', '1.099560', '1.100090', '0.000000.3', '1.499270', '0.249880.1', '0.000000.4', '0.149930', '0.200000', '0.000000.7', '0.000000.15', '1.499270.1', '1.000000', '-0.349830', '0.000000.5', '0.000000.9', '1.280000', '0.000000.12', '0.249880', '0.300200', '0.000000.6', '-1.449290', '-0.200000', '0.000000.17', '0.149930.1', '0.200000.1', '0.000000.13', '0.000000.2', '0.000000.10', '0.000000', '-1.449290.1', '0.000000.11', '0.000000.16', '0.000000.14', '0.000000.8', '0.000000.1'}) and 7 missing columns ({'0.1', '0', '0.4', '0.5', '0.2', '0.3', '1'}).

This happened while the csv dataset builder was generating data using

hf://datasets/KillerBoss/trainrobot-motionclips/ardy_g1/aufstehen.csv (at revision fa737893b3a33c4de01750e56394e6cd92e8c942), ['hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/aufstehen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/aufstehen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/balance.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/balance.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/ducken.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/ducken.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/fusskick.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/fusskick.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/huepfen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/huepfen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/idle.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/idle.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/laufen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/laufen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/liegen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/liegen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/sprung.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/sprung.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/stopp.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/stopp.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_l.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_l.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_r.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_r.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_back.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_back.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_side.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_side.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/weitsprung.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/weitsprung.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/winken.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/winken.csv']

Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1848, in _prepare_split_single
                  writer.write_table(table)
                  ~~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 765, in write_table
                  self._write_table(pa_table, writer_batch_size=writer_batch_size)
                  ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
                  pa_table = table_cast(pa_table, self._schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              0.000000: double
              0.000000.1: double
              0.300200: double
              1.000000: double
              0.000000.2: double
              0.000000.3: double
              0.000000.4: double
              -1.449290: double
              0.149930: double
              0.000000.5: double
              1.499270: double
              0.249880: double
              0.000000.6: double
              -1.449290.1: double
              0.149930.1: double
              0.000000.7: double
              1.499270.1: double
              0.249880.1: double
              0.000000.8: double
              0.000000.9: double
              0.000000.10: double
              -0.349830: double
              0.200000: double
              1.099560: double
              0.000000.11: double
              1.280000: double
              0.000000.12: double
              0.000000.13: double
              0.000000.14: double
              0.200000.1: double
              -0.200000: double
              0.000000.15: double
              1.100090: double
              0.000000.16: double
              0.000000.17: double
              0.000000.18: double
              -- schema metadata --
              pandas: '{"index_columns": [{"kind": "range", "name": null, "start": 0, "' + 4608
              to
              {'0': Value('int64'), '0.1': Value('int64'), '0.2': Value('int64'), '0.3': Value('int64'), '0.4': Value('int64'), '1': Value('int64'), '0.5': Value('int64')}
              because column names don't match
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1850, in _prepare_split_single
                  raise DatasetGenerationCastError.from_cast_error(
                  ...<4 lines>...
                  )
              datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
              
              All the data files must have the same columns, but at some point there are 36 new columns ({'0.000000.18', '1.099560', '1.100090', '0.000000.3', '1.499270', '0.249880.1', '0.000000.4', '0.149930', '0.200000', '0.000000.7', '0.000000.15', '1.499270.1', '1.000000', '-0.349830', '0.000000.5', '0.000000.9', '1.280000', '0.000000.12', '0.249880', '0.300200', '0.000000.6', '-1.449290', '-0.200000', '0.000000.17', '0.149930.1', '0.200000.1', '0.000000.13', '0.000000.2', '0.000000.10', '0.000000', '-1.449290.1', '0.000000.11', '0.000000.16', '0.000000.14', '0.000000.8', '0.000000.1'}) and 7 missing columns ({'0.1', '0', '0.4', '0.5', '0.2', '0.3', '1'}).
              
              This happened while the csv dataset builder was generating data using
              
              hf://datasets/KillerBoss/trainrobot-motionclips/ardy_g1/aufstehen.csv (at revision fa737893b3a33c4de01750e56394e6cd92e8c942), ['hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/aufstehen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/aufstehen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/balance.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/balance.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/ducken.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/ducken.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/fusskick.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/fusskick.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/huepfen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/huepfen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/idle.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/idle.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/laufen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/laufen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/liegen.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/liegen.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/sprung.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/sprung.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/stopp.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/stopp.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_l.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_l.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_r.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/turn_r.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_back.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_back.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_side.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/walk_side.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/weitsprung.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/weitsprung.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/winken.cmd.csv', 'hf://datasets/KillerBoss/trainrobot-motionclips@fa737893b3a33c4de01750e56394e6cd92e8c942/ardy_g1/winken.csv']
              
              Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)

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YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

Trainrobot Motion-Clips — Basis-Lehrer-Datensatz (v1.0.0)

Prozedural erzeugte Basis-Animationen für RL-Training als LEHRER (Belohnungs-Referenz). Wichtig: Die Animation dient NIE als Policy-Input — sie ist nur Belohnungssystem (Imitation-Reward). So kann der Lehrer später komplett entfernt werden, ohne dass die Policy ihr Verhalten ändert (Beobachtungsraum enthält die Animation nie; Lehrer-Gewicht wird im Training einfach auf 0 gefadet).

Kein CUDA nötig: alles deterministisch prozedural erzeugt (CPU, 30 fps, CC0-1.0).

Formate

Pfad Inhalt
app/motionclips.json Alle 41 Clips für G1 + MicroDuck + Skydio X2 (App-nativ, inkl. Kommando-Spur pro Frame)
ardy_g1/<skill>.csv G1-Clips im exakten NVIDIA-ARDY-QPOS-Format (36 Spalten: root xyz + quat wxyz + 29 DoF, z hoch, x vorwärts) — direkt in der Trainrobot-App per „.csv (ARDY)" importierbar
ardy_g1/<skill>.cmd.csv Kommando-Spur je Frame (7 Spalten, gleiche Framezahl)
kaggle_notebook_ardy.ipynb Echte ARDY-Clips (Text→Motion) auf Kaggle-GPU erzeugen und als CSV ergänzen

Kommando-Spur (= Joystick-/Button-Antwort)

Jeder Frame trägt [vx, vy, wz, bA, bB, bC, bD]:

Kanal Bedeutung
vx / vy Soll-Tempo vorwärts / seitwärts (m/s) — linke Stick-Achse
wz Soll-Drehrate (rad/s) — rechte Stick-Achse
bA Button A = Hüpfen/Sprung (0/1)
bB Button B = Hinlegen (0/1)
bC Button C = Aufstehen (0/1)
bD Button D = Stopp (0/1)

Antwort auf die Frage „Weiß der Datensatz, wo der Joystick zeigt / welcher Button gedrückt ist?": JA — beim Datensatz-Generieren ist die Kommandospur bekannt und wird mitgespeichert. Weil die Clips prozedural aus Kommandos erzeugt werden, ist jeder Frame mit der exakten Stick-/Button-Stellung verknüpft. Später mappen: Der Joystick in der App erzeugt denselben Kommando-Vektor → Match per nächstem Kommando-Vektor bzw. Skill-Auslöser. Für echte Mocap-Dateien ohne Spur: kleines Netz lernt offline die Kommandos aus der Bewegung (Kommando-Regression) — Notebook-Vorlage folgt.

Basis-Animations-Liste (fürs Training nötig)

Gemeinsam (Beiner): idle (Stehen), walk (Gehen vorwärts), walk_back (Rückwärts), walk_side (Seitwärts), turn_l/turn_r (Drehen), laufen (schnell), huepfen (Hüpfen), sprung (Vertikalsprung), weitsprung, liegen (Hinlegen), aufstehen, ducken (Hocke), stopp (Bremsen), balance (Gleichgewicht/Störung)

MicroDuck zusätzlich: sitzen (Hinsetzen), flattern (Kopf/Hals-Spiel)

G1 zusätzlich: winken (Arm winken), fusskick (Fußkick)

Skydio X2 (Drohne, Pfad-Lehrer): starten (Takeoff), schweben (Hover), vorwaerts, rueckwaerts, seitwaerts, kreisen (Kreisflug), steigen, sinken, rolle (Barrel Roll), salto (Flip), landen, notstopp

Nutzung in der App (Auto-Download von HuggingFace)

Die App lädt app/motionclips.json automatisch von HuggingFace (Cache im WebView), bietet sie als Lehrer-Belohnung an (Slider „Lehrer-Gewicht", Fade-out auf 0 = Lehrer weg, Verhalten bleibt) und ordnet sie per Skill den Experten/Router zu. G1-CSVs zusätzlich manuell importierbar per „.csv (ARDY)"-Button.

Erweiterung mit echtem ARDY (optional, GPU)

  1. kaggle_notebook_ardy.ipynb in einem Kaggle-Notebook öffnen (kostenlose GPU)
  2. ARDY-Checkpoints laden, Prompts eingeben → QPOS-CSVs erzeugen
  3. CSVs in ardy_g1/ ergänzen (gleiche 36-Spalten-Konvention) und neu hochladen

Lizenz: CC0-1.0 (eigene Erzeugung; ARDY-Konvention-Referenz: NVIDIA ARDY, Apache-2.0).
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