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
000000: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000001: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000002: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000003: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<it
...
ist<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000189: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000190: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000191: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
to
{'000000': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000001': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000002': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000003': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000004': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000005': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000006': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8')
...
Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000191': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000192': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000193': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000194': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000195': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000196': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}}
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 478, 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 2818, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, 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/hdf5/hdf5.py", line 91, in _generate_tables
yield Key(file_idx, batch_idx), cast_table_to_features(pa_table, self.info.features)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2271, in cast_table_to_features
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
000000: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000001: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000002: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000003: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<it
...
ist<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000189: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000190: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
000191: struct<norm_params: float, object_kinds: binary, object_names: binary, object_pc: list<item: list<it (... 42 chars omitted)
child 0, norm_params: float
child 1, object_kinds: binary
child 2, object_names: binary
child 3, object_pc: list<item: list<item: float>>
child 0, item: list<item: float>
child 0, item: float
child 4, rgb_jpeg: uint8
child 5, valid: bool
to
{'000000': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000001': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000002': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000003': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000004': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000005': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000006': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8')
...
Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000191': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000192': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000193': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000194': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000195': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}, '000196': {'norm_params': Value('float32'), 'object_kinds': Value('string'), 'object_names': Value('string'), 'object_pc': Array2D(shape=(512, 3), dtype='float32'), 'rgb_jpeg': Value('uint8'), 'valid': Value('bool')}}
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.
LIBERO 3D Point-Cloud GT (sim teacher)
Per-frame, object-level 3D point-cloud ground truth for the LIBERO benchmark, generated by replaying the official LIBERO human demonstrations' recorded MuJoCo states in simulation and unprojecting the metric depth + per-object GT instance segmentation (the "MuJoCo privileged upper bound"). No estimation — exact metric geometry.
- Source: LIBERO base demos (
yifengzhu-hf/LIBERO-datasets), 130 tasks × 50 demos across the 5 suites (spatial / object / goal / long / 90). - Object selection: each task's
obj_of_interestfrom its BDDL (target + destination objects; distractors excluded; same-class instances disambiguated). Abstract placement regions map to their parent fixture's cloud. - Teacher: sim depth unprojection (metric).
Format
One HDF5 file per (task, demo) episode. Each frame group "%06d" holds:
| key | shape / dtype | meaning |
|---|---|---|
object_pc |
f32 (4, 512, 3) |
scene-normalized (scheme B) per-object point clouds |
object_names |
str (4,) |
LIBERO instance names ("" = padding) |
object_kinds |
str (4,) |
graspable | fixture | "" |
valid |
bool (4,) |
slot valid this frame (False when object fully occluded) |
norm_params |
f32 (4,) |
shared centroid c(3) + radius r(1); metric = pc·r + c |
rgb_jpeg |
uint8 (N,) |
JPEG bytes of the 256×256 agentview RGB |
Root attrs: task, language, bddl, teacher="sim", coord="scene_normalized_B",
view="agentview", n_frames.
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