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
episode_index: int64
stats: struct<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 928 chars omitted)
child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
child 0, min: list<item: double>
child 0, item: double
child 1, max: list<item: double>
child 0, item: double
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 1, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
child 0, min: list<item: double>
child 0, item: double
child 1, max: list<item: double>
child 0, item: double
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 2, timestamp: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
child 0, min: list<item: double>
child 0, item: double
child 1, max: list<item: double>
child 0, item: double
child 2, mean: list<item: double>
...
ax: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
child 0, min: list<item: int64>
child 0, item: int64
child 1, max: list<item: int64>
child 0, item: int64
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 5, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
child 0, min: list<item: int64>
child 0, item: int64
child 1, max: list<item: int64>
child 0, item: int64
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 6, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
child 0, min: list<item: int64>
child 0, item: int64
child 1, max: list<item: int64>
child 0, item: int64
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
tasks: list<item: string>
child 0, item: string
length: int64
to
{'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
return get_rows(
^^^^^^^^^
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 77, in get_rows
rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 289, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 124, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2272, in table_cast
return cast_table_to_schema(table, schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
raise CastError(
datasets.table.CastError: Couldn't cast
episode_index: int64
stats: struct<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 928 chars omitted)
child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
child 0, min: list<item: double>
child 0, item: double
child 1, max: list<item: double>
child 0, item: double
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 1, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
child 0, min: list<item: double>
child 0, item: double
child 1, max: list<item: double>
child 0, item: double
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 2, timestamp: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
child 0, min: list<item: double>
child 0, item: double
child 1, max: list<item: double>
child 0, item: double
child 2, mean: list<item: double>
...
ax: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
child 0, min: list<item: int64>
child 0, item: int64
child 1, max: list<item: int64>
child 0, item: int64
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 5, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
child 0, min: list<item: int64>
child 0, item: int64
child 1, max: list<item: int64>
child 0, item: int64
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
child 6, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: dou (... 31 chars omitted)
child 0, min: list<item: int64>
child 0, item: int64
child 1, max: list<item: int64>
child 0, item: int64
child 2, mean: list<item: double>
child 0, item: double
child 3, std: list<item: double>
child 0, item: double
child 4, count: list<item: int64>
child 0, item: int64
tasks: list<item: string>
child 0, item: string
length: int64
to
{'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
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.
Bright 2026 Benchmark - Robot 19380 (MAEN)
Competition task: 水果分类 (Fruit Sorting)
Dataset Format
LeRobot v2.1 format with 3 camera views (face, left wrist, right wrist).
Action / State Dimensions (56-dim)
| Dim Range | Key | Description |
|---|---|---|
| 0-2 | follow_left_ee_cartesian_pos |
Left arm end-effector position (x, y, z) |
| 3-5 | follow_left_ee_rotation |
Left arm end-effector rotation (roll, pitch, yaw) |
| 6 | follow_left_gripper |
Left gripper openness |
| 7-9 | follow_right_ee_cartesian_pos |
Right arm end-effector position (x, y, z) |
| 10-12 | follow_right_ee_rotation |
Right arm end-effector rotation (roll, pitch, yaw) |
| 13 | follow_right_gripper |
Right gripper openness |
| 14-20 | follow_left_arm_joint_pos |
Left arm joint positions (6 joints + gripper, 7 dims) |
| 21-27 | follow_left_arm_joint_dev |
Left arm joint deviations (6 joints + gripper, 7 dims) |
| 28-34 | follow_left_arm_joint_cur |
Left arm joint currents (6 joints + gripper, 7 dims) |
| 35-41 | follow_right_arm_joint_pos |
Right arm joint positions (6 joints + gripper, 7 dims) |
| 42-48 | follow_right_arm_joint_dev |
Right arm joint deviations (6 joints + gripper, 7 dims) |
| 49-55 | follow_right_arm_joint_cur |
Right arm joint currents (6 joints + gripper, 7 dims) |
Total: 14 (ee pose + gripper) + 42 (joint data, 7 dims x 6 keys) = 56 dimensions
Observation Images
| Key | Description | Resolution |
|---|---|---|
observation.images.faceImg |
Front-facing camera | 480 x 640 |
observation.images.leftImg |
Left wrist camera | 480 x 640 |
observation.images.rightImg |
Right wrist camera | 480 x 640 |
Robot Info
- Robot type: X2 dual-arm
- Robot ID: 19380
- FPS: 20
- Downloads last month
- 21