Appendix
Collection
Supplementary LeWAM simulation data: TwoDoor2 and multiview Drawer, Transport, and Tool Hang. • 4 items • Updated
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: ValueError
Message: Dataset 'ep_len' has length 200 but expected 95962
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, 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 127, 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 483, 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 2951, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2461, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2486, 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 547, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, 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/hdf5/hdf5.py", line 76, in _generate_tables
num_rows = _check_dataset_lengths(h5, self.info.features)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 353, in _check_dataset_lengths
raise ValueError(f"Dataset '{path}' has length {dset.shape[0]} but expected {num_rows}")
ValueError: Dataset 'ep_len' has length 200 but expected 95962Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
LeWAM Tool Hang — two views
Simulation training data used by LeWAM.
- Episodes: 200
- Frames: 95,962
- Camera columns:
pixels,pixels_r0eih - Action dimensions: 7
Files
| File | Bytes | Purpose |
|---|---|---|
toolhang.h5 |
5,030,456,346 | Scene camera, actions and episode metadata |
toolhang_eih.h5 |
4,622,226,254 | Wrist-camera supplement |
toolhang_multiview.h5 |
2,500 | Portable multiview entry point; requires both companion HDF5 files |
Tool Hang has two recorded cameras (scene and wrist). This dataset does not contain a third camera.
Download the entire repository and keep the HDF5 files together. The multiview entry point uses relative HDF5 links to its companion files; it contains no cluster-specific paths. Open toolhang_multiview.h5 for all views.
Download and read
pip install huggingface_hub h5py hdf5plugin
from pathlib import Path
from huggingface_hub import snapshot_download
import hdf5plugin # registers the image compression filters
import h5py
root = Path(snapshot_download("LeWAM/lewam-toolhang-2view", repo_type="dataset"))
with h5py.File(root / "toolhang_multiview.h5", "r") as data:
print(list(data.keys()))
image = data["pixels"][0]
action = data["action"][0]
Integrity and format
manifest.json records the byte size and SHA-256 of every HDF5 file. Camera frames are 224 × 224 RGB. ep_offset and ep_len describe episode boundaries. No optional preload cache is required.
The companion data files preserve the source training data bytes. Multiview entry points only combine columns; no trajectories or camera views are synthesized.
- Downloads last month
- 16