Hugging Face's logo

Datasets:
yrpark
/
r1pro-pick-precise-5tasks

Tags:
robotics
behavior-1k
r1pro
License:
Dataset card Files
xet
 Community
Dataset Viewer
Duplicate
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
episode: int64
seg: int64
success: bool
steps: int64
pick_start_index: int64
transitions: int64
grasp_dist_m: double
lift_m: double
grasped: bool
target: string
demo_steps: int64
track_err_m_p50: double
track_err_m_max: double
wall_s: double
open_loop: bool
physics_hz: int64
grasp_step: int64
finger_open_before_grasp_m: double
finger_open_end_m: double
obj_push_xy_before_grasp_m: double
obj_rise_before_grasp_m: double
action_saturated_steps: int64
load_s: double
start: int64
obj_grasp_m: double
key_index: int64
frames: list<item: int64>
  child 0, item: int64
end: int64
eef_grasp_m: list<item: double>
  child 0, item: double
eef_obj_m: list<item: double>
  child 0, item: double
reset_index: int64
to
{'episode': Value('int64'), 'seg': Value('int64'), 'start': Value('int64'), 'end': Value('int64'), 'target': Value('string'), 'frames': List(Value('int64')), 'key_index': Value('int64'), 'reset_index': Value('int64'), 'eef_grasp_m': List(Value('float64')), 'eef_obj_m': List(Value('float64')), 'obj_grasp_m': Value('float64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, 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 129, 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 544, 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 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, 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 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, 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 361, 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 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode: int64
              seg: int64
              success: bool
              steps: int64
              pick_start_index: int64
              transitions: int64
              grasp_dist_m: double
              lift_m: double
              grasped: bool
              target: string
              demo_steps: int64
              track_err_m_p50: double
              track_err_m_max: double
              wall_s: double
              open_loop: bool
              physics_hz: int64
              grasp_step: int64
              finger_open_before_grasp_m: double
              finger_open_end_m: double
              obj_push_xy_before_grasp_m: double
              obj_rise_before_grasp_m: double
              action_saturated_steps: int64
              load_s: double
              start: int64
              obj_grasp_m: double
              key_index: int64
              frames: list<item: int64>
                child 0, item: int64
              end: int64
              eef_grasp_m: list<item: double>
                child 0, item: double
              eef_obj_m: list<item: double>
                child 0, item: double
              reset_index: int64
              to
              {'episode': Value('int64'), 'seg': Value('int64'), 'start': Value('int64'), 'end': Value('int64'), 'target': Value('string'), 'frames': List(Value('int64')), 'key_index': Value('int64'), 'reset_index': Value('int64'), 'eef_grasp_m': List(Value('float64')), 'eef_obj_m': List(Value('float64')), 'obj_grasp_m': Value('float64')}
              because column names don't match

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

R1Pro pick, precise phase: 5 BEHAVIOR tasks (first 100 episodes each)

cook_broccolini, halve_an_egg, make_rose_centerpieces, picking_up_trash, store_honey. One folder per (task, object, hand) skill config (skill.yaml, selection.json, results/, demos.pkl); every folder has the same observation / action layout, so they can be concatenated into one pick dataset.

config segments kept transitions
pick_cook_broccolini_plate_left 92 73 4692
pick_halve_an_egg_carving_knife_left 96 48 2592
pick_halve_an_egg_half_hard_boiled_egg_left 93 56 2911
pick_halve_an_egg_half_hard_boiled_egg_right 91 59 2737
pick_halve_an_egg_hard_boiled_egg_right 93 49 2106
pick_make_rose_centerpieces_rose_left 143 69 2514
pick_make_rose_centerpieces_rose_right 148 65 2144
pick_make_rose_centerpieces_vase_left 32 32 1120
pick_make_rose_centerpieces_vase_right 39 38 1586
pick_picking_up_trash_can_of_soda_left 0 0 0
pick_picking_up_trash_can_of_soda_right 0 0 0
pick_picking_up_trash_trash_can_left 0 0 0
pick_picking_up_trash_trash_can_right 0 0 0
pick_store_honey_jar_of_honey_right 173 148 8225

Method

  1. Segments: pick_up_from annotations of the BEHAVIOR-1K 2026 challenge R1Pro demos (behavior-1k/2026-challenge-demos, simulator states from behavior-1k/2026-challenge-rawdata; MIT, see LICENSE), one hand grasping, the hand rising

    = 5 cm after the grasp.

  2. Pick start: the first 10 Hz frame at which the hand's EEF is within 0.10 m of the grasp point (the EEF pose at the first gripper-close command, held in the object's frame).
  3. Each segment is replayed in OmniGibson 3.9.3 / Isaac Sim 5.1 (physics 120 Hz, control 10 Hz) from the raw simulator state at its pick start with the base, trunk and other arm held still; only the skill hand's arm (IK pose delta) and gripper move. Kept only if the hand grasps the object and lifts it >= 5 cm. Images are re-rendered. Code: github.com/kwk2696/agentic-behavior-1k, branch hil-serl (hilserl/demos/convert.py).

demos.pkl (per config)

A pickled list of transitions (hil-serl demo-buffer format):

key content
observations, next_observations head: (1,128,128,3) uint8, wrist: (1,128,128,3) uint8 (the skill hand's wrist camera), state: (1,27) float32
actions (7,) float32 in [-1,1]: skill-hand EEF delta in the robot base frame [dx,dy,dz]/0.10 m, axis-angle /0.25 rad; gripper -1 close / +1 open on the step its command changes, else 0
rewards, masks, dones 1 / 0 / True on the last (success) step
infos episode (demo_<raw episode>_s<segment>), step, success-predicate values
grasp_penalty -0.02 on a gripper command change, else 0

state: eef_left_pos 3, eef_left_quat 4 (xyzw), eef_right_pos 3, eef_right_quat 4, gripper_left_qpos 2, gripper_right_qpos 2, trunk_qpos 4, base_qvel 3 (robot base frame), skill_hand 2 (one-hot: [1,0] left, [0,1] right).
Downloads last month
2
Total file size:
6.05 GB