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The dataset generation failed
Error code: DatasetGenerationError
Exception: ArrowNotImplementedError
Message: Cannot write struct type 'rename_map' with no child field to Parquet. Consider adding a dummy child field.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1868, in _prepare_split_single
num_examples, num_bytes = writer.finalize()
~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 803, in finalize
self.write_rows_on_file()
~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 663, in write_rows_on_file
self._write_table(table)
~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 790, in _write_table
self._build_writer(inferred_schema=pa_table.schema)
~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 834, in _build_writer
self.pa_writer = pq.ParquetWriter(
~~~~~~~~~~~~~~~~^
self.stream,
^^^^^^^^^^^^
...<9 lines>...
},
^^
)
^
File "/usr/local/lib/python3.14/site-packages/pyarrow/parquet/core.py", line 1115, in __init__
self.writer = _parquet.ParquetWriter(
~~~~~~~~~~~~~~~~~~~~~~^
sink, schema,
^^^^^^^^^^^^^
...<20 lines>...
max_rows_per_page=max_rows_per_page,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
**options)
^^^^^^^^^^
File "pyarrow/_parquet.pyx", line 2430, in pyarrow._parquet.ParquetWriter.__cinit__
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.ArrowNotImplementedError: Cannot write struct type 'rename_map' with no child field to Parquet. Consider adding a dummy child field.
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 1879, 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.
dataset dict | env null | policy dict | output_dir string | job_name string | resume bool | seed int64 | num_workers int64 | batch_size int64 | steps int64 | eval_freq int64 | log_freq int64 | tolerance_s float64 | save_checkpoint bool | save_freq int64 | use_policy_training_preset bool | optimizer dict | scheduler dict | eval dict | wandb dict | use_rabc bool | rabc_progress_path null | rabc_kappa float64 | rabc_epsilon float64 | rabc_head_mode string | rename_map dict | checkpoint_path null |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
"repo_id": "local/lbm_finetune_uncap",
"root": "/lerobot-ros/data/rama/lbm_finetune_uncap",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs"... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
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"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
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144,
2... | /lerobot-ros/data/rama/fine-tuning-lbm/deploy | dp64_3cam_lbm_finetune_uncap_20260713_ds5_plateau | false | 42 | 16 | 128 | 20,000 | 2,000 | 200 | 0.0001 | true | 5,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_uncap_20260713_ds5_plateau",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_bimanual_pick",
"root": "/lerobot-ros/data/rama/lbm_finetune_bimanual_pick",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
"observation.images.left_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_bimanual_pick/deploy | dp64_3cam_lbm_ft_bimanual_pick | false | 42 | 16 | 128 | 20,000 | 1,000,000 | 200 | 0.0001 | true | 5,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_bimanual_pick",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_cap",
"root": "/lerobot-ros/data/rama/lbm_finetune_cap",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
"observation.images.left_wrist_top": {
"type": "VISUAL",
"shape": [
3,
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256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_cap/deploy | dp64_3cam_lbm_ft_cap | false | 42 | 16 | 128 | 20,000 | 1,000,000 | 200 | 0.0001 | true | 5,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_cap",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_longhorizon",
"root": "/lerobot-ros/data/rama/lbm_finetune_longhorizon",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
... | null | {
"type": "diffusion",
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"input_features": {
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"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_longhorizon/deploy | dp64_3cam_lbm_ft_longhorizon | false | 42 | 16 | 128 | 30,000 | 1,000,000 | 200 | 0.0001 | true | 5,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_longhorizon",
"entity": null,
"notes": null,
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} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_longhorizon1_cam_reorient",
"root": "/lerobot-ros/data/rama/lbm_finetune_longhorizon1_cam_reorient",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
... | null | {
"type": "diffusion",
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"input_features": {
"observation.images.left_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_longhorizon1_cam_reorient/deploy | dp64_3cam_lbm_ft_longhorizon_cam_reorient | false | 42 | 16 | 128 | 30,000 | 1,000,000 | 200 | 0.0001 | true | 10,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_longhorizon1_cam_reorient",
"entity": null,
"notes": null,
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"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_longhorizon2_cam_reorient",
"root": "/lerobot-ros/data/rama/lbm_finetune_longhorizon2_cam_reorient",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
"observation.images.left_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_longhorizon2_cam_reorient/deploy | dp64_3cam_lbm_ft_longhorizon2_cam_reorient | false | 42 | 16 | 128 | 30,000 | 1,000,000 | 200 | 0.0001 | true | 10,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_longhorizon2_cam_reorient",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/longhorizon3_ds5_cam_reorient_plateau",
"root": "/lerobot-ros/data/smrithi/longhorizon3_renumbered/train/longhorizon3_ds5_cam_reorient_plateau",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness":... | null | {
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"type": "VISUAL",
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3,
144,
256
]
},
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"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_longhorizon3_cam_reorient/deploy | dp64_3cam_lbm_ft_longhorizon3_cam_reorient | false | 42 | 16 | 128 | 30,000 | 1,000,000 | 200 | 0.0001 | true | 10,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_longhorizon3_cam_reorient",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_needle",
"root": "/lerobot-ros/data/rama/lbm_finetune_needle",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwarg... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
"observation.images.left_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_needle/deploy | dp64_3cam_lbm_ft_needle | false | 42 | 16 | 128 | 20,000 | 1,000,000 | 200 | 0.0001 | true | 5,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_needle",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_salt",
"root": "/lerobot-ros/data/rama/lbm_finetune_salt",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs": ... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
"observation.images.left_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_salt/deploy | dp64_3cam_lbm_ft_salt | false | 42 | 16 | 128 | 20,000 | 1,000,000 | 200 | 0.0001 | true | 5,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_salt",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_finetune_uncap",
"root": "/lerobot-ros/data/rama/lbm_finetune_uncap",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwargs"... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
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"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_finetune_uncap/deploy | dp64_3cam_lbm_ft_uncap | false | 42 | 16 | 128 | 20,000 | 1,000,000 | 200 | 0.0001 | true | 5,000 | true | {
"type": "adam",
"lr": 0.00003,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "cosine"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_finetune_uncap",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | sparse | {} | null |
{
"repo_id": "local/lbm_pretrain_all_ds5",
"root": "/lerobot-ros/data/rama/lbm_pretrain_all_ds5",
"episodes": null,
"image_transforms": {
"enable": true,
"max_num_transforms": 3,
"random_order": true,
"tfs": {
"brightness": {
"weight": 1,
"type": "ColorJitter",
"kwa... | null | {
"type": "diffusion",
"n_obs_steps": 1,
"input_features": {
"observation.images.left_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
256
]
},
"observation.images.right_wrist_top": {
"type": "VISUAL",
"shape": [
3,
144,
2... | /lerobot-ros/data/rama/lbm_pretrain_all_ds5/deploy | dp64_3cam_lbm_pretrain_all_ds5 | false | 42 | 16 | 128 | 100,000 | 1,000,000 | 200 | 0.0001 | true | 10,000 | true | {
"type": "adam",
"lr": 0.0001,
"weight_decay": 0.000001,
"grad_clip_norm": 10,
"betas": [
0.95,
0.999
],
"eps": 1e-8
} | {
"type": "diffuser",
"num_warmup_steps": 500,
"name": "constant_with_warmup"
} | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": true,
"disable_artifact": true,
"project": "lbm_pretrain_all_ds5",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
} | false | null | 0.01 | 0.000001 | null | {} | null |
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Check out the documentation for more information.
Archived: WetLabRoboData/lerobot-data-rama-configs
This repo is not part of the published imitation-learning taxonomy but has
been preserved as an archive. Previous contents are in the old/ subfolder.
See WetLabRoboData for the active dataset / model / eval repos.
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