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
house_46503: struct<house_46503/trajectories_batch_6_of_20.h5: struct<traj_0: int64, traj_2: int64, traj_3: int64 (... 69 chars omitted)
child 0, house_46503/trajectories_batch_6_of_20.h5: struct<traj_0: int64, traj_2: int64, traj_3: int64>
child 0, traj_0: int64
child 1, traj_2: int64
child 2, traj_3: int64
child 1, house_46503/trajectories_batch_16_of_20.h5: struct<traj_0: int64>
child 0, traj_0: int64
house_3250: struct<house_3250/trajectories_batch_5_of_20.h5: struct<traj_0: int64>>
child 0, house_3250/trajectories_batch_5_of_20.h5: struct<traj_0: int64>
child 0, traj_0: int64
house_3048: struct<house_3048/trajectories_batch_13_of_20.h5: struct<traj_0: int64, traj_1: int64, traj_2: int64 (... 17 chars omitted)
child 0, house_3048/trajectories_batch_13_of_20.h5: struct<traj_0: int64, traj_1: int64, traj_2: int64, traj_3: int64>
child 0, traj_0: int64
child 1, traj_1: int64
child 2, traj_2: int64
child 3, traj_3: int64
house_61790: struct<house_61790/trajectories_batch_16_of_20.h5: struct<traj_0: int64, traj_1: int64>>
child 0, house_61790/trajectories_batch_16_of_20.h5: struct<traj_0: int64, traj_1: int64>
child 0, traj_0: int64
child 1, traj_1: int64
house_54922: struct<house_54922/trajectories_batch_19_of_20.h5: struct<traj_0: int64>, house_54922/trajectories_b (... 39 chars omitted)
child 0, house_54922/trajectories_batch_19_of_20.h5: struct<traj_0: int64>
child 0, traj_0: int64
child
...
ean: list<item: double>
child 0, item: double
child 1, std: list<item: double>
child 0, item: double
child 2, min: list<item: double>
child 0, item: double
child 3, max: list<item: double>
child 0, item: double
child 4, count: int64
child 5, sum: list<item: double>
child 0, item: double
child 6, sum_sq: list<item: double>
child 0, item: double
actions/ee_pose/arm: struct<mean: list<item: double>, std: list<item: double>, min: list<item: double>, max: list<item: d (... 74 chars omitted)
child 0, mean: list<item: double>
child 0, item: double
child 1, std: list<item: double>
child 0, item: double
child 2, min: list<item: double>
child 0, item: double
child 3, max: list<item: double>
child 0, item: double
child 4, count: int64
child 5, sum: list<item: double>
child 0, item: double
child 6, sum_sq: list<item: double>
child 0, item: double
actions/ee_twist/gripper: struct<mean: list<item: double>, std: list<item: double>, min: list<item: double>, max: list<item: d (... 74 chars omitted)
child 0, mean: list<item: double>
child 0, item: double
child 1, std: list<item: double>
child 0, item: double
child 2, min: list<item: double>
child 0, item: double
child 3, max: list<item: double>
child 0, item: double
child 4, count: int64
child 5, sum: list<item: double>
child 0, item: double
child 6, sum_sq: list<item: double>
child 0, item: double
to
{'actions/commanded_action/base': {'mean': List(Value('null')), 'std': List(Value('null')), 'min': List(Value('null')), 'max': List(Value('null')), 'count': Value('int64'), 'sum': List(Value('null')), 'sum_sq': List(Value('null'))}, 'actions/commanded_action/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/commanded_action/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_pose/base': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_pose/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_pose/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_twist/gripper': {'mean': Lis
...
m': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/joint_pos/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/joint_pos/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/joint_pos_rel/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'obs/agent/qpos/base': {'mean': List(Value('null')), 'std': List(Value('null')), 'min': List(Value('null')), 'max': List(Value('null')), 'count': Value('int64'), 'sum': List(Value('null')), 'sum_sq': List(Value('null'))}, 'obs/agent/qpos/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'obs/agent/qpos/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}}
because column names don't match
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 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, 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 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, 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 343, 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 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
house_46503: struct<house_46503/trajectories_batch_6_of_20.h5: struct<traj_0: int64, traj_2: int64, traj_3: int64 (... 69 chars omitted)
child 0, house_46503/trajectories_batch_6_of_20.h5: struct<traj_0: int64, traj_2: int64, traj_3: int64>
child 0, traj_0: int64
child 1, traj_2: int64
child 2, traj_3: int64
child 1, house_46503/trajectories_batch_16_of_20.h5: struct<traj_0: int64>
child 0, traj_0: int64
house_3250: struct<house_3250/trajectories_batch_5_of_20.h5: struct<traj_0: int64>>
child 0, house_3250/trajectories_batch_5_of_20.h5: struct<traj_0: int64>
child 0, traj_0: int64
house_3048: struct<house_3048/trajectories_batch_13_of_20.h5: struct<traj_0: int64, traj_1: int64, traj_2: int64 (... 17 chars omitted)
child 0, house_3048/trajectories_batch_13_of_20.h5: struct<traj_0: int64, traj_1: int64, traj_2: int64, traj_3: int64>
child 0, traj_0: int64
child 1, traj_1: int64
child 2, traj_2: int64
child 3, traj_3: int64
house_61790: struct<house_61790/trajectories_batch_16_of_20.h5: struct<traj_0: int64, traj_1: int64>>
child 0, house_61790/trajectories_batch_16_of_20.h5: struct<traj_0: int64, traj_1: int64>
child 0, traj_0: int64
child 1, traj_1: int64
house_54922: struct<house_54922/trajectories_batch_19_of_20.h5: struct<traj_0: int64>, house_54922/trajectories_b (... 39 chars omitted)
child 0, house_54922/trajectories_batch_19_of_20.h5: struct<traj_0: int64>
child 0, traj_0: int64
child
...
ean: list<item: double>
child 0, item: double
child 1, std: list<item: double>
child 0, item: double
child 2, min: list<item: double>
child 0, item: double
child 3, max: list<item: double>
child 0, item: double
child 4, count: int64
child 5, sum: list<item: double>
child 0, item: double
child 6, sum_sq: list<item: double>
child 0, item: double
actions/ee_pose/arm: struct<mean: list<item: double>, std: list<item: double>, min: list<item: double>, max: list<item: d (... 74 chars omitted)
child 0, mean: list<item: double>
child 0, item: double
child 1, std: list<item: double>
child 0, item: double
child 2, min: list<item: double>
child 0, item: double
child 3, max: list<item: double>
child 0, item: double
child 4, count: int64
child 5, sum: list<item: double>
child 0, item: double
child 6, sum_sq: list<item: double>
child 0, item: double
actions/ee_twist/gripper: struct<mean: list<item: double>, std: list<item: double>, min: list<item: double>, max: list<item: d (... 74 chars omitted)
child 0, mean: list<item: double>
child 0, item: double
child 1, std: list<item: double>
child 0, item: double
child 2, min: list<item: double>
child 0, item: double
child 3, max: list<item: double>
child 0, item: double
child 4, count: int64
child 5, sum: list<item: double>
child 0, item: double
child 6, sum_sq: list<item: double>
child 0, item: double
to
{'actions/commanded_action/base': {'mean': List(Value('null')), 'std': List(Value('null')), 'min': List(Value('null')), 'max': List(Value('null')), 'count': Value('int64'), 'sum': List(Value('null')), 'sum_sq': List(Value('null'))}, 'actions/commanded_action/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/commanded_action/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_pose/base': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_pose/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_pose/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/ee_twist/gripper': {'mean': Lis
...
m': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/joint_pos/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/joint_pos/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'actions/joint_pos_rel/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'obs/agent/qpos/base': {'mean': List(Value('null')), 'std': List(Value('null')), 'min': List(Value('null')), 'max': List(Value('null')), 'count': Value('int64'), 'sum': List(Value('null')), 'sum_sq': List(Value('null'))}, 'obs/agent/qpos/arm': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}, 'obs/agent/qpos/gripper': {'mean': List(Value('float64')), 'std': List(Value('float64')), 'min': List(Value('float64')), 'max': List(Value('float64')), 'count': Value('int64'), 'sum': List(Value('float64')), 'sum_sq': List(Value('float64'))}}
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.
Franka Pick and Place Next To OmniCam
Incomplete publication — do not use this repository as a complete dataset. The upload was intentionally cancelled on September 19, 2026 after 4 of 270 planned archive shards (about 20 GB of an approximately 1.345 TB payload) were uploaded and verified. The metadata and split indexes describe the complete local dataset, but the corresponding HDF5/MP4 payload is mostly absent. See
publication.jsonfor the machine-readable status.
144,624 indexed training trajectories and 103 validation trajectories from the official AI2 ordinary next-to source. This is the full local training view, distinct from the smaller LeftRight dataset. Original part splits and task prompts are preserved; no new house-disjointness or success claim is made.
Download and extraction
Download this repository, then extract every data/*.tar into the downloaded repository root:
hf download ccwatson/FrankaPickAndPlaceNextToOmniCamConfig_molmobot --repo-type dataset --local-dir ./FrankaPickAndPlaceNextToOmniCamConfig_molmobot
cd FrankaPickAndPlaceNextToOmniCamConfig_molmobot
for shard in data/*.tar; do tar -xf "$shard"; done
If publication is completed in the future, extraction will produce train/house_* and val/house_* HDF5/MP4 payloads alongside the published split indexes. Archive members are regular files, not the original machine's absolute directory symlinks. Allow disk space for both downloaded archives and extracted data. publication.json records the current publication state. Its present incomplete_cancelled status means the download instructions above cannot produce a usable complete dataset.
Training contract and validation
Use action preset franka_joint, camera preset franka_droid, and FrankaPickAndPlaceNextToOmniCamConfig_norm_stats.yaml. State and action dimensions are 8 (7 arm + gripper). Selected cameras are wrist_camera_zed_mini and droid_shoulder_light_randomization.
Action q01/q99 use a seeded sample of 10,000 valid training trajectories; state min/max use all 144,624 valid training trajectories. Validation data do not contribute. The completed normalized loader audit sampled 15 trajectories across all five source splits: four images, state [8], action [16, 8]. Publication additionally checks every indexed trajectory's selected-camera references and corresponding video files.
All files inside indexed house directories are retained, including additional cameras and unindexed trajectories. Consumers must honor valid_trajectory_index.json; payload counts can exceed indexed counts. HDF5/video bytes and source prompts are unchanged. The original dataset_manifest.json describes the local symlink view; publication.json documents portable archive packaging.
Provenance and limitations
Source collection: FrankaPickAndPlaceNextToOmniCamConfig. The source root, original part indexes, repair/visibility/video/statistics audits, preparation scripts, provenance hashes and normalized loader audit are included in source_metadata/, dataset_manifest.json and normalized_loader_verification.json. Source policies, simulator coverage and validation exclusions constrain this dataset; no additional task-success guarantees are inferred. Original software and asset terms apply; no new license is asserted.
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