Datasets:

fm-dev
/

franka-demos-compressed

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
episode_id: int64
raw_episode_id: string
review_status: string
reviewed_at: string
review_source: string
review_model: string
human_ground_truth: bool
rubric: string
reviewed_frame_range: list<item: int64>
  child 0, item: int64
events: list<item: struct<event_id: string, action_start_frame: int64, state_change_frame: int64, observable (... 215 chars omitted)
  child 0, item: struct<event_id: string, action_start_frame: int64, state_change_frame: int64, observable_earliest_f (... 203 chars omitted)
      child 0, event_id: string
      child 1, action_start_frame: int64
      child 2, state_change_frame: int64
      child 3, observable_earliest_frame: int64
      child 4, observable_estimate_frame: int64
      child 5, observable_latest_frame: int64
      child 6, confirmation_frame: int64
      child 7, action_end_frame: int64
      child 8, caption: string
      child 9, confidence: double
      child 10, evidence_frames: list<item: int64>
          child 0, item: int64
reviewed_negative_tail: list<item: int64>
  child 0, item: int64
negative_tail_reason: string
evidence_files: list<item: string>
  child 0, item: string
producer_outputs_modified: bool
exported_evidence_images: int64
destination_prefix: string
omitted: struct<helper code or lock file: struct<count: int64, examples: list<item: string>>, hidden progress (... 167 chars omitted)
  child 0, helper code or lock file: struct<count: int64, examples: list<item: string>>
      child 0, count: int64
      child 1, exam
...

          child 0, complete: bool
          child 1, episode_count: int64
          child 2, generation_errors: int64
          child 3, human_ground_truth: null
          child 4, missing_sidecars: list<item: null>
              child 0, item: null
          child 5, negative_coverage_certified: null
          child 6, precise_temporal_supervision_ready: null
          child 7, prompt_version: string
          child 8, sidecars_present: int64
          child 9, training_ready: null
          child 10, writer_model: string
  child 16, writer-terra-standard-v6: struct<writer-terra-standard-v6: struct<complete: bool, episode_count: int64, generation_errors: int (... 236 chars omitted)
      child 0, writer-terra-standard-v6: struct<complete: bool, episode_count: int64, generation_errors: int64, human_ground_truth: null, mis (... 202 chars omitted)
          child 0, complete: bool
          child 1, episode_count: int64
          child 2, generation_errors: int64
          child 3, human_ground_truth: null
          child 4, missing_sidecars: list<item: null>
              child 0, item: null
          child 5, negative_coverage_certified: null
          child 6, precise_temporal_supervision_ready: null
          child 7, prompt_version: string
          child 8, sidecars_present: int64
          child 9, training_ready: null
          child 10, writer_model: string
exported_bytes: int64
published_to: list<item: string>
  child 0, item: string
labels_relabelled_or_merged: bool
to
{'destination_prefix': Value('string'), 'exported_bytes': Value('int64'), 'exported_evidence_images': Value('int64'), 'exported_file_count': Value('int64'), 'exported_payloads': Value('int64'), 'labels_relabelled_or_merged': Value('bool'), 'omitted': {'helper code or lock file': {'count': Value('int64'), 'examples': List(Value('string'))}, 'hidden progress, lock or partial output': {'count': Value('int64'), 'examples': List(Value('string'))}, 'per-decision Writer generation trace': {'count': Value('int64'), 'examples': List(Value('string'))}}, 'producer_outputs_modified': Value('bool'), 'published_to': List(Value('string')), 'readiness_note': Value('string'), 'reference_note': Value('string'), 'schema_version': Value('string'), 'source': Value('string'), 'unresolvable_absolute_references': {'events-astra-refinements-v3/pick3/index.json': List(Value('string')), 'events-astra-refinements-v3/shuffle/index.json': List(Value('string')), 'events-astra-v1/button_order/index.json': List(Value('string')), 'events-astra-v1/pick3/index.json': List(Value('string')), 'events-astra-v1/shuffle/index.json': List(Value('string')), 'events-astra-v2/button_order/index.json': List(Value('string')), 'events-astra-v2/pick3/index.json': List(Value('string')), 'events-astra-v2/shuffle/index.json': List(Value('string')), 'events-candidates-v1/button_order/episode_000000.json': List(Value('string')), 'events-candidates-v1/button_order/episode_000001.json': List(Value('string')), 'events-candidates-v1/
...
ue('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}, 'writer-luna-workspace-v4': {'writer-luna-workspace-v4': {'complete': Value('bool'), 'episode_count': Value('int64'), 'generation_errors': Value('int64'), 'human_ground_truth': Value('null'), 'missing_sidecars': List(Value('null')), 'negative_coverage_certified': Value('null'), 'precise_temporal_supervision_ready': Value('null'), 'prompt_version': Value('string'), 'sidecars_present': Value('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}, 'writer-terra-current-cli-v5': {'writer-terra-current-cli-v5': {'complete': Value('bool'), 'episode_count': Value('int64'), 'generation_errors': Value('int64'), 'human_ground_truth': Value('null'), 'missing_sidecars': List(Value('null')), 'negative_coverage_certified': Value('null'), 'precise_temporal_supervision_ready': Value('null'), 'prompt_version': Value('string'), 'sidecars_present': Value('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}, 'writer-terra-standard-v6': {'writer-terra-standard-v6': {'complete': Value('bool'), 'episode_count': Value('int64'), 'generation_errors': Value('int64'), 'human_ground_truth': Value('null'), 'missing_sidecars': List(Value('null')), 'negative_coverage_certified': Value('null'), 'precise_temporal_supervision_ready': Value('null'), 'prompt_version': Value('string'), 'sidecars_present': Value('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}}}
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 483, 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 2840, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, 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/json/json.py", line 343, 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 2378, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode_id: int64
              raw_episode_id: string
              review_status: string
              reviewed_at: string
              review_source: string
              review_model: string
              human_ground_truth: bool
              rubric: string
              reviewed_frame_range: list<item: int64>
                child 0, item: int64
              events: list<item: struct<event_id: string, action_start_frame: int64, state_change_frame: int64, observable (... 215 chars omitted)
                child 0, item: struct<event_id: string, action_start_frame: int64, state_change_frame: int64, observable_earliest_f (... 203 chars omitted)
                    child 0, event_id: string
                    child 1, action_start_frame: int64
                    child 2, state_change_frame: int64
                    child 3, observable_earliest_frame: int64
                    child 4, observable_estimate_frame: int64
                    child 5, observable_latest_frame: int64
                    child 6, confirmation_frame: int64
                    child 7, action_end_frame: int64
                    child 8, caption: string
                    child 9, confidence: double
                    child 10, evidence_frames: list<item: int64>
                        child 0, item: int64
              reviewed_negative_tail: list<item: int64>
                child 0, item: int64
              negative_tail_reason: string
              evidence_files: list<item: string>
                child 0, item: string
              producer_outputs_modified: bool
              exported_evidence_images: int64
              destination_prefix: string
              omitted: struct<helper code or lock file: struct<count: int64, examples: list<item: string>>, hidden progress (... 167 chars omitted)
                child 0, helper code or lock file: struct<count: int64, examples: list<item: string>>
                    child 0, count: int64
                    child 1, exam
              ...
              
                        child 0, complete: bool
                        child 1, episode_count: int64
                        child 2, generation_errors: int64
                        child 3, human_ground_truth: null
                        child 4, missing_sidecars: list<item: null>
                            child 0, item: null
                        child 5, negative_coverage_certified: null
                        child 6, precise_temporal_supervision_ready: null
                        child 7, prompt_version: string
                        child 8, sidecars_present: int64
                        child 9, training_ready: null
                        child 10, writer_model: string
                child 16, writer-terra-standard-v6: struct<writer-terra-standard-v6: struct<complete: bool, episode_count: int64, generation_errors: int (... 236 chars omitted)
                    child 0, writer-terra-standard-v6: struct<complete: bool, episode_count: int64, generation_errors: int64, human_ground_truth: null, mis (... 202 chars omitted)
                        child 0, complete: bool
                        child 1, episode_count: int64
                        child 2, generation_errors: int64
                        child 3, human_ground_truth: null
                        child 4, missing_sidecars: list<item: null>
                            child 0, item: null
                        child 5, negative_coverage_certified: null
                        child 6, precise_temporal_supervision_ready: null
                        child 7, prompt_version: string
                        child 8, sidecars_present: int64
                        child 9, training_ready: null
                        child 10, writer_model: string
              exported_bytes: int64
              published_to: list<item: string>
                child 0, item: string
              labels_relabelled_or_merged: bool
              to
              {'destination_prefix': Value('string'), 'exported_bytes': Value('int64'), 'exported_evidence_images': Value('int64'), 'exported_file_count': Value('int64'), 'exported_payloads': Value('int64'), 'labels_relabelled_or_merged': Value('bool'), 'omitted': {'helper code or lock file': {'count': Value('int64'), 'examples': List(Value('string'))}, 'hidden progress, lock or partial output': {'count': Value('int64'), 'examples': List(Value('string'))}, 'per-decision Writer generation trace': {'count': Value('int64'), 'examples': List(Value('string'))}}, 'producer_outputs_modified': Value('bool'), 'published_to': List(Value('string')), 'readiness_note': Value('string'), 'reference_note': Value('string'), 'schema_version': Value('string'), 'source': Value('string'), 'unresolvable_absolute_references': {'events-astra-refinements-v3/pick3/index.json': List(Value('string')), 'events-astra-refinements-v3/shuffle/index.json': List(Value('string')), 'events-astra-v1/button_order/index.json': List(Value('string')), 'events-astra-v1/pick3/index.json': List(Value('string')), 'events-astra-v1/shuffle/index.json': List(Value('string')), 'events-astra-v2/button_order/index.json': List(Value('string')), 'events-astra-v2/pick3/index.json': List(Value('string')), 'events-astra-v2/shuffle/index.json': List(Value('string')), 'events-candidates-v1/button_order/episode_000000.json': List(Value('string')), 'events-candidates-v1/button_order/episode_000001.json': List(Value('string')), 'events-candidates-v1/
              ...
              ue('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}, 'writer-luna-workspace-v4': {'writer-luna-workspace-v4': {'complete': Value('bool'), 'episode_count': Value('int64'), 'generation_errors': Value('int64'), 'human_ground_truth': Value('null'), 'missing_sidecars': List(Value('null')), 'negative_coverage_certified': Value('null'), 'precise_temporal_supervision_ready': Value('null'), 'prompt_version': Value('string'), 'sidecars_present': Value('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}, 'writer-terra-current-cli-v5': {'writer-terra-current-cli-v5': {'complete': Value('bool'), 'episode_count': Value('int64'), 'generation_errors': Value('int64'), 'human_ground_truth': Value('null'), 'missing_sidecars': List(Value('null')), 'negative_coverage_certified': Value('null'), 'precise_temporal_supervision_ready': Value('null'), 'prompt_version': Value('string'), 'sidecars_present': Value('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}, 'writer-terra-standard-v6': {'writer-terra-standard-v6': {'complete': Value('bool'), 'episode_count': Value('int64'), 'generation_errors': Value('int64'), 'human_ground_truth': Value('null'), 'missing_sidecars': List(Value('null')), 'negative_coverage_certified': Value('null'), 'precise_temporal_supervision_ready': Value('null'), 'prompt_version': Value('string'), 'sidecars_present': Value('int64'), 'training_ready': Value('null'), 'writer_model': Value('string')}}}}
              because column names don't match

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franka-demos-compressed

Franka Emika teleoperated demonstrations recorded as ROS 2 bags, with a synchronised HDF5 conversion.

RGB is stored as raw JPEG bytes (encoding='jpeg' attribute), which makes this split roughly 4x smaller than the decoded variant at fm-dev/franka-demos. Depth, state and timestamps are byte-for-byte the same in both.

raw/<task>/<operator>/<episode>/   # original ROS 2 bags (.db3.zstd) + metadata.yaml + task.txt
h5/<task>/<episode>.h5             # converted, time-synchronised HDF5
annotations/<version>/...          # machine-generated labels and their QA reviews

Task	Episodes	Converted HDF5	Prompt
`button_order`	51	51	press the buttons with the same order shown in the video
`pick3`	50	50	pick 3 times
`shuffle`	57	57	shuffle the cup with the cube, then press the button with the cube
total	158	158

Episodes rejected by quality control are not published: recordings with fully NaN proprioception, incomplete task executions, and one unrecoverable truncated archive were withheld, so the counts above are the retained set rather than everything that was recorded.

H5 layout

One group per synchronised sample, frame_000000 ... frame_NNNNNN, each containing:

Cameras (cam_base, cam_hand): colour image, aligned_depth_to_color as uint16 (720x1280), and the matching camera_info.
Franka state: current_pose (position / orientation), measured_joint_states, desired_joint_states, external_joint_torques, external_wrench_in_base_frame, external_wrench_in_stiffness_frame, desired_end_effector_twist, last_desired_pose.
Commands: _target_pose_position, _target_pose_orientation, _target_joint.
Gripper / teleop: _franka_gripper_joint_states, _spacenav_joy_buttons.
Timing: original_timestamps, camera_timestamps, other_timestamps, plus a sync_quality group with the per-topic offset from the reference RGB stream, a stale_topics list and a depth_stale flag.

Frames are synchronised onto the cam_base colour stream at full rate (no decimation). Non-reference topics are matched within +-100 ms and otherwise best-effort filled from the nearest message (capped at 1 s) with the frame flagged stale, so a good RGB frame is never dropped because one stream skipped a beat. Sample 0 of each episode is dropped.

Converted with rosbag_to_h5_simple.py.

import cv2, h5py
with h5py.File("h5/pick3/pick3_20260826_205000_123.h5", "r") as f:
    g = f["frame_000000"]
    rgb = cv2.imdecode(g["_cam_base_camera_color_image_raw_compressed"][:], cv2.IMREAD_COLOR)
    depth = g["_cam_base_camera_aligned_depth_to_color_image_raw_compressedDepth"][:]

Annotations

annotations/<version>/... holds machine-generated episodic annotations: Writer keyframe/subgoal sidecars, offline semantic-event and phase labels, and the QA reviews that assessed them. Each version keeps its own model, prompt version and review verdict; versions are never merged and a superseded run is kept as-is rather than deleted.

Version	Files
`events-agent-reviewed-v1`	1
`events-astra-refinements-v3`	42
`events-astra-v1`	35
`events-astra-v2`	1470
`events-candidates-v1`	160
`phases-agent-reviewed-v1`	109
`protocols`	1
`qa`	473
`writer-astra-pick3-pilot-v1`	2
`writer-astra-real-v1`	111
`writer-astra-real-v2`	52
`writer-astra-repairs-v1`	3
`writer-astra-shuffle-pilot-v1`	2
`writer-luna-native-efficiency-v3`	2
`writer-luna-workspace-v4`	2
`writer-terra-current-cli-v5`	2
`writer-terra-standard-v6`	2

annotations/EXPORT_MANIFEST.json records, per bundle, the producer's own complete, human_ground_truth and training_ready flags, plus what the export deliberately omits.

None of these labels is human ground truth, and no bundle is certified training-ready. Some versions were explicitly rejected by review and are published only so the comparison stays auditable. Read the QA verdicts under annotations/qa/ before using any of it for supervision. Per-decision generation traces (storyboards and request/response logs) are not published.

Downloads last month: 174

Total file size:

140 GB

franka-demos-compressed

Contents

H5 layout

Annotations