Dataset Viewer

Split (1)

train

The dataset viewer is not available for this split.

Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.

Error code:   FeaturesError
Exception:    ArrowInvalid
Message:      Schema at index 1 was different: 
codebase_version: string
robot_type: string
total_episodes: int64
total_frames: int64
total_tasks: int64
fps: int64
episode_length: int64
data_type: string
encoding: string
video: struct<observation.images.front: struct<shape: list<item: int64>, names: list<item: string>>, observation.images.wrist: struct<shape: list<item: int64>, names: list<item: string>>>
vs
episode_index: int64
tasks: list<item: string>
length: int64
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3422, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2187, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2391, in iter
                  for key, example in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1882, in __iter__
                  for key, pa_table in self._iter_arrow():
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1904, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 527, in _iter_arrow
                  yield new_key, pa.Table.from_batches(chunks_buffer)
                File "pyarrow/table.pxi", line 4116, in pyarrow.lib.Table.from_batches
                File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Schema at index 1 was different: 
              codebase_version: string
              robot_type: string
              total_episodes: int64
              total_frames: int64
              total_tasks: int64
              fps: int64
              episode_length: int64
              data_type: string
              encoding: string
              video: struct<observation.images.front: struct<shape: list<item: int64>, names: list<item: string>>, observation.images.wrist: struct<shape: list<item: int64>, names: list<item: string>>>
              vs
              episode_index: int64
              tasks: list<item: string>
              length: int64

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YAML Metadata Warning: empty or missing yaml metadata in repo card (https://huggingface.co/docs/hub/datasets-cards)

Torque-Corrected LeRobot Dataset

This dataset is a post-processed version of NLTuan/dual_camera_torque_demo_v2 with torque control corrections applied.

Corrections Applied

Original dataset: NLTuan/dual_camera_torque_demo_v2
Total frames: 1145
Frames corrected: 633
Correction rate: 55.3%

What was corrected

Actions were updated to match subsequent robot positions during periods of manual control (when torque was disabled). This ensures that the recorded actions accurately represent the robot's actual movement during demonstrations.

Usage

This corrected dataset can be used directly for training imitation learning policies with proper torque control behavior.

Original dataset: NLTuan/dual_camera_torque_demo_v2

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