Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code: DatasetGenerationError
Exception: ArrowInvalid
Message: Schema at index 20 was different:
task: string
quantize: int64
grasp: int64
success: int64
grasp_rate: double
success_rate: double
num_episodes: int64
avg_inference_time: double
avg_duration_sec: double
avg_ticks: double
avg_lag_l2: double
vs
task: string
grasp: int64
success: int64
grasp_rate: double
success_rate: double
num_episodes: int64
avg_inference_time: double
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
num_examples, num_bytes = writer.finalize()
~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 781, in finalize
self.write_rows_on_file()
~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 662, in write_rows_on_file
table = pa.concat_tables(self.current_rows)
File "pyarrow/table.pxi", line 6321, in pyarrow.lib.concat_tables
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: Schema at index 20 was different:
task: string
quantize: int64
grasp: int64
success: int64
grasp_rate: double
success_rate: double
num_episodes: int64
avg_inference_time: double
avg_duration_sec: double
avg_ticks: double
avg_lag_l2: double
vs
task: string
grasp: int64
success: int64
grasp_rate: double
success_rate: double
num_episodes: int64
avg_inference_time: double
The above exception was the direct cause of the following exception:
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 1880, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
task string | quantize int64 | grasp int64 | success int64 | grasp_rate float64 | success_rate float64 | num_episodes int64 | avg_inference_time float64 | avg_duration_sec float64 | avg_ticks float64 | avg_lag_l2 float64 |
|---|---|---|---|---|---|---|---|---|---|---|
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 1 | 20 | 20 | 62.5 | 62.5 | 32 | 0.0951 | 14.519 | 136.7 | 0.0871 |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 1 | 0 | 0 | 0 | 0 | 1 | 0.1134 | null | null | null |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 1 | 4 | 4 | 80 | 80 | 5 | 0.0866 | 14.841 | 141.2 | 0.0881 |
Pick up the blue cup and put it into the plate | 1 | 1 | 1 | 100 | 100 | 1 | 0.1122 | 8.732 | 80 | 0.0779 |
Pick up the doll and put it into the plate | 1 | 5 | 5 | 83.333 | 83.333 | 6 | 0.0972 | 6.654 | 60.8 | 0.0887 |
Pick up the green cube and put it into the plate | 1 | 8 | 8 | 72.727 | 72.727 | 11 | 0.0843 | 7.401 | 68.1 | 0.0732 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 3 | 3 | 100 | 100 | 3 | 0.0923 | 22.413 | 204.7 | 0.0523 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 2 | 2 | 100 | 100 | 2 | 0.0819 | 20.305 | 192 | 0.0585 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 2 | 2 | 100 | 100 | 2 | 0.1131 | 17.066 | 156.5 | 0.0578 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 2 | 2 | 100 | 100 | 2 | 0.0887 | 20.694 | 193.5 | 0.0573 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 3 | 3 | 100 | 100 | 3 | 0.092 | 20.472 | 196 | 0.0553 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 26 | 26 | 81.25 | 81.25 | 32 | 0.0979 | 19.39 | 181.1 | 0.0567 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 1 | 1 | 100 | 100 | 1 | 0.1155 | 25.974 | 237 | 0.0576 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 2 | 2 | 100 | 100 | 2 | 0.1005 | 22.464 | 208.5 | 0.0544 |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 1 | 9 | 9 | 100 | 100 | 9 | 0.0889 | 25.019 | 243 | 0.0647 |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 2 | 1 | 1 | 50 | 50 | 2 | 0.1106 | 13.434 | 126 | 0.0831 |
Pick up the blue cup and put it into the plate | 1 | 3 | 3 | 50 | 50 | 6 | 0.0965 | 13.757 | 135 | 0.0595 |
Pick up the doll and put it into the plate | 1 | 15 | 15 | 78.947 | 78.947 | 19 | 0.1024 | 10.428 | 100.9 | 0.0585 |
Pick up the green cube and put it into the plate | 1 | 17 | 17 | 100 | 100 | 17 | 0.1084 | 12.206 | 117.9 | 0.0529 |
Pick up the blue cup and put it into the plate | 2 | 9 | 9 | 81.818 | 81.818 | 11 | 0.0898 | 8.276 | 78 | 0.0654 |
Pick up the doll and put it into the plate | 2 | 5 | 5 | 50 | 50 | 10 | 0.1126 | 6.699 | 63.6 | 0.0763 |
Pick up the green cube and put it into the plate | 2 | 6 | 6 | 54.545 | 54.545 | 11 | 0.1154 | 7.52 | 71 | 0.0667 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 27 | 27 | 87.097 | 87.097 | 31 | 0 | 35.204 | 341.3 | 0.0528 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 2 | 0 | 0 | 0 | 0 | 1 | 0.1053 | null | null | 0.0642 |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 1 | 0 | 0 | 0 | 0 | 2 | 0.0791 | null | null | 0.0673 |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 1 | 3 | 3 | 75 | 75 | 4 | 0.1259 | 19.467 | 188 | 0.0678 |
Pick up the blue cup and put it into the plate | 1 | 5 | 5 | 45.455 | 45.455 | 11 | 0.1093 | 9.539 | 92.6 | 0.0646 |
Pick up the doll and put it into the plate | 1 | 8 | 8 | 80 | 80 | 10 | 0.0892 | 7.105 | 68 | 0.0729 |
Pick up the green cube and put it into the plate | 1 | 7 | 7 | 63.636 | 63.636 | 11 | 0.1449 | 8.41 | 80.1 | 0.0617 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 4 | 4 | 33.333 | 33.333 | 12 | 0.1252 | 24.276 | 236 | 0.0565 |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | 1 | 1 | 1 | 25 | 25 | 4 | 0.0932 | 14.113 | 140 | 0.0519 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 1 | 0 | 0 | 0 | 0 | 1 | 0.1134 | null | null | 0.0616 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 1 | 1 | 1 | 100 | 100 | 1 | 0.098 | 42 | 409 | 0.0459 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 2 | 11 | 11 | 73.333 | 73.333 | 15 | 0.0956 | 24.751 | 235.2 | 0.0603 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 3 | 3 | 3 | 50 | 50 | 6 | 0.1054 | 19.646 | 182.7 | 0.0718 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 4 | 1 | 1 | 50 | 50 | 2 | 0.09 | 20.453 | 190 | 0.0598 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 1 | 1 | 1 | 100 | 100 | 1 | 0.1175 | 21.985 | 212 | 0.0523 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 1 | 0 | 0 | 0 | 0 | 1 | 0.1263 | null | null | 0.0619 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 1 | 0 | 0 | 0 | 0 | 1 | 0.2471 | null | null | 0.0562 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 1 | 0 | 0 | 0 | 0 | 3 | 0.2014 | null | null | 0.0498 |
Pick up the blue cup and put it into the plate | 1 | 0 | 0 | 0 | 0 | 1 | 0.2206 | null | null | 0.069 |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | 1 | 0 | 0 | 0 | 0 | 3 | 0.0945 | null | null | 0.0545 |
Pick up the blue cup and put it into the plate | 1 | 2 | 2 | 100 | 100 | 2 | 0.1178 | 6.703 | 64.5 | 0.0758 |
Pick up the doll and put it into the plate | 1 | 8 | 8 | 100 | 100 | 8 | 0.1039 | 5.628 | 54.4 | 0.0791 |
Pick up the green cube and put it into the plate | 1 | 0 | 0 | 0 | 0 | 1 | 0.0616 | null | null | 0.0705 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 11 | 11 | 55 | 55 | 20 | 0.0761 | 15.787 | 154.4 | 0.0665 |
Pick up the blue cup and put it into the plate | 1 | 4 | 4 | 100 | 100 | 4 | 0.0718 | 12.874 | 127 | 0.0572 |
Pick up the doll and put it into the plate | 1 | 13 | 13 | 100 | 100 | 13 | 0.0985 | 10.394 | 100.5 | 0.0616 |
Pick up the green cube and put it into the plate | 1 | 9 | 9 | 75 | 75 | 12 | 0.0893 | 11.805 | 115.2 | 0.0577 |
Pick up the blue cup and put it into the plate | 2 | 11 | 11 | 84.615 | 84.615 | 13 | 0.0944 | 8.315 | 79.1 | 0.072 |
Pick up the doll and put it into the plate | 2 | 2 | 2 | 100 | 100 | 2 | 0.0811 | 5.844 | 56.5 | 0.0777 |
Pick up the green cube and put it into the plate | 2 | 12 | 12 | 100 | 100 | 12 | 0.0841 | 6.381 | 61.5 | 0.0792 |
Pick up the blue cup and put it into the plate | 3 | 9 | 9 | 75 | 75 | 12 | 0.0978 | 6.322 | 58.8 | 0.086 |
Pick up the doll and put it into the plate | 3 | 10 | 10 | 83.333 | 83.333 | 12 | 0.0881 | 5.026 | 47 | 0.091 |
Pick up the green cube and put it into the plate | 3 | 14 | 14 | 100 | 100 | 14 | 0.0916 | 5.542 | 51.8 | 0.0907 |
Pick up the blue cup and put it into the plate | 4 | 2 | 2 | 100 | 100 | 2 | 0.1106 | 5.238 | 47 | 0.0934 |
Pick up the doll and put it into the plate | 4 | 10 | 10 | 83.333 | 83.333 | 12 | 0.0877 | 4.452 | 41.1 | 0.1038 |
Pick up the green cube and put it into the plate | 4 | 10 | 10 | 83.333 | 83.333 | 12 | 0.1005 | 5.071 | 45.9 | 0.1112 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 1 | 1 | 11.111 | 11.111 | 9 | 0.0758 | 23.208 | 226 | 0.0592 |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | 1 | 1 | 1 | 25 | 25 | 4 | 0.0773 | 14.025 | 138 | 0.0548 |
Open the air fryer basket, put the food from the plate into the basket, and close the basket. | null | 18 | 18 | 56.25 | 56.25 | 32 | 0.0797 | null | null | null |
Put the doll and the green cube in the left red cup, and put the mint cube in the right red cup. | null | 19 | 19 | 61.29 | 61.29 | 31 | 0.0798 | null | null | null |
Pick up the blue cup and put it into the plate | null | 5 | 5 | 45.455 | 45.455 | 11 | 0.0832 | null | null | null |
Pick up the doll and put it into the plate | null | 10 | 10 | 100 | 100 | 10 | 0.0801 | null | null | null |
Pick up the green cube and put it into the plate | null | 6 | 6 | 54.545 | 54.545 | 11 | 0.0801 | null | null | null |
Pick up the blue cup and put it into the plate | null | 0 | 0 | 0 | 0 | 11 | 0.0856 | null | null | null |
Pick up the doll and put it into the plate | null | 9 | 9 | 90 | 90 | 10 | 0.0835 | null | null | null |
Pick up the green cube and put it into the plate | null | 8 | 8 | 72.727 | 72.727 | 11 | 0.0817 | null | null | null |
Pick up the blue cup and put it into the plate | null | 0 | 0 | 0 | 0 | 11 | 0.0851 | null | null | null |
Pick up the doll and put it into the plate | null | 10 | 10 | 83.333 | 83.333 | 12 | 0.0846 | null | null | null |
Pick up the green cube and put it into the plate | null | 8 | 8 | 72.727 | 72.727 | 11 | 0.0845 | null | null | null |
Stack the left blue cup on the yellow cup in the middle, then stack the right blue cup on the yellow cup in the middle | null | 11 | 11 | 34.375 | 34.375 | 32 | 0.0797 | null | null | null |
YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
What gets logged
Tree: logs/base/<model>/<variant>/<model>/<task>/{results,videos}/
where <variant> is q1..q4. (logs/sail, logs/demospeedup have the same
shape, one root per runner script.) Cross-variant summaries live in
../result/<variant>.csv, not here.
Join key: episode_id. Same value in episodes.tsv and tracking.tsv; the
video is videos/{episode_id + 1:03d}.mp4 (episode_id 12 → 013.mp4).
Two dt bases appear throughout. Unprefixed columns use the measured interval
between consecutive commands — what the arm actually faced, and the numbers to
quote. nominal_* recompute the same thing as if every interval had been exactly
1/10 s; the gap between them is loop timing, not quantization. Diagnostic only.
results/episodes.tsv — one row per episode
핵심
| 열 | 뜻 |
|---|---|
episode_id |
조인 키 (영상은 +1번) |
success |
1.0 성공 / 0.5 잡기만 / 0.0 실패 |
ticks, duration_sec |
명령 횟수, 걸린 시간 — 속도 이득의 분자·분모 |
mean_lag_l2 |
명령과 실측 관절의 평균 오차 (rad). 크면 로봇이 명령을 못 따라간 것 |
torque_saturated_ticks |
정격 토크를 넘긴 tick 수 |
max_torque_frac_of_rated |
그 에피소드 최대 |τ|/정격. > 1 이면 명령대로 못 감 |
per_joint_saturated_ticks |
위를 관절 0~6별로 (공백 구분 7개). 어느 관절이 한계인지 |
참고용
| 열 | 뜻 |
|---|---|
attempt |
세션 누적 시도 번호. 로그 디렉토리를 이어 쓰면 episode_id와 안 맞을 수 있음 |
task, quantize, quantize_mode |
실행 설정 확인용 (디렉토리 이름에 이미 있음) |
raw_chunk_len, quantized_chunk_len |
16 → 4 등. 설정대로 압축됐는지 확인 |
sec_per_tick |
duration_sec / ticks. 파생값 |
policy_queries, avg_inference_sec |
추론 횟수·시간 |
timed_out |
1이면 max_timesteps에 걸려 끝난 것 = 실패. duration_sec을 쓰면 안 됨 |
토크는 이 3열만 둡니다. chunk별 집계는
tracking.tsv의torque_frac+chunk_idx로, 균일 dt 집계는nominal_torque_frac으로 그대로 재계산되므로 열을 따로 두지 않습니다. 토크 계산에 쓴 URDF·payload는 실행 시작할 때 콘솔에[torque] saturation check backend: ...로 찍힙니다.
results/tracking.tsv — one row per tick
핵심
| 열 | 뜻 |
|---|---|
episode_id, t_step |
어느 에피소드의 몇 번째 tick |
chunk_idx, idx_in_chunk, chunk_len |
어느 action chunk의 몇 번째 waypoint |
cmd_j0..j6 |
명령한 관절 위치 (rad). 토크 추정의 입력 |
meas_j0..j6 |
이 tick 시작 시점의 실측 관절 위치 |
lag_l2 |
‖이전 명령 − 지금 실측‖. 압축할수록 커지면 로봇이 끌려간 것 |
step_dist_l2 |
‖지금 명령 − 이전 명령‖. 한 tick에 요구된 이동량 (q에 비례해 커짐) |
tick_dt |
이전 명령과의 실제 시간 간격 (s) |
torque_frac |
이 tick의 max(|τ|/정격). > 1 인 tick이 문제 지점 |
참고용
| 열 | 뜻 |
|---|---|
attempt |
위와 같음 |
cmd_gripper, meas_gripper |
그리퍼. 관절 토크와 무관 |
lag_max |
lag_l2의 관절별 최댓값 |
torque_saturated |
torque_frac > 1 을 0/1로. 필터링 편의용 |
nominal_torque_frac |
균일 dt 진단용 |
각 에피소드의 앞 2 tick은 torque_*가 빈 칸입니다 — 가속도를 만들려면 이전 명령
두 개가 필요하고, 그때는 아직 없습니다. 0이 아니라 빈 칸인 이유는 0이 "힘이 전혀
필요 없었다"로 읽히기 때문입니다.
나머지 (전부 참고용)
| 파일 | 뜻 |
|---|---|
results/eval.tsv |
task별 누적 평균 한 줄. episodes.tsv에서 다시 계산할 수 있으므로 굳이 볼 필요 없음. 에피소드를 지우면 틀린 값이 남음 |
results/process_tracking.tsv |
Best-of-N 점수 기록. q1~q4는 Best-of-N을 안 쓰므로 대부분 빈 칸 |
results/outputs_NNN.json |
정책이 뱉은 원본 출력 (chunk 모양 등). 디버깅용 |
videos/NNN.mp4 |
외부+손목 카메라 합친 영상, 15 fps |
../result/<variant>.csv |
variant 간 비교용 요약. timestamp, task, success, steps, wall_time_sec, torque_saturated_ticks, max_torque_frac_of_rated |
주의
- 모든 파일이 append이고 헤더는 파일 생성 시 한 번만 씁니다. 열이 다른 옛 파일에 이어 쓰면 값이 밀리므로, 스키마가 바뀌면 옛 파일을 옮기고 새로 시작하세요.
episodes.tsv행은 rollout이 끝나고 성공 여부를 입력한 뒤에 기록됩니다. 중간에 죽으면 영상과tracking.tsv행만 남아 짝이 안 맞습니다 —delete_episode.py로 정리.- 이미 기록된 에피소드의 토크 값은
tracking.tsv만 있으면 로봇 없이 다시 계산할 수 있습니다 (torque_backfill.py). 토크는 명령 궤적에 역동역학을 적용한 추정치이고, 로봇이 실제로 낸 토크 측정값이 아닙니다.
- Downloads last month
- 165