Universal Visual Decomposer: Long-Horizon Manipulation Made Easy
Paper • 2310.08581 • Published • 1
Dataset Preview
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The dataset generation failed
Error code: DatasetGenerationError
Exception: ValueError
Message: Invalid string class label UVD@2d02b976a4ad40612172fca02b20eacea2df4b41
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1537, in _prepare_split_single
example = self.info.features.encode_example(record) if self.info.features is not None else record
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 2162, in encode_example
return encode_nested_example(self, example)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1446, in encode_nested_example
{k: encode_nested_example(schema[k], obj.get(k), level=level + 1) for k in schema}
~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1469, in encode_nested_example
return schema.encode_example(obj) if obj is not None else None
~~~~~~~~~~~~~~~~~~~~~^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1144, in encode_example
example_data = self.str2int(example_data)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1081, in str2int
output = [self._strval2int(value) for value in values]
~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1102, in _strval2int
raise ValueError(f"Invalid string class label {value}")
ValueError: Invalid string class label UVD@2d02b976a4ad40612172fca02b20eacea2df4b41
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 1382, 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 1560, 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.
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End of preview.
Dataset for Universal Visual Decomposer (UVD)
Dataset Description
Homepage: https://zcczhang.github.io/UVD/
Codebase: https://github.com/zcczhang/UVD
Paper: https://arxiv.org/abs/2310.08581
Dataset Summary
This is the dataset used for the paper Universal Visual Decomposer: Long-Horizon Manipulation Made Easy. We release the simulation data in FrankaKitchen and data for real-world experiments.
If you find our work useful, please consider citing us!
@misc{zhang2023universal,
title = {Universal Visual Decomposer: Long-Horizon Manipulation Made Easy},
author = {Zichen Zhang and Yunshuang Li and Osbert Bastani and Abhishek Gupta and Dinesh Jayaraman and Yecheng Jason Ma and Luca Weihs},
title = {Universal Visual Decomposer: Long-Horizon Manipulation Made Easy},
year = {2023},
eprint = {arXiv:2310.08581},
}
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