physicalai-bmi/forge-arm-reach-bc
Robotics • 17.9k • Updated
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The dataset generation failed
Error code: DatasetGenerationError
Exception: CastError
Message: Couldn't cast
episode_index: int64
tasks: list<item: string>
child 0, item: string
length: int64
task_index: int64
frame_index: int64
action: list<item: double>
child 0, item: double
index: int64
observation.state: list<item: double>
child 0, item: double
timestamp: double
to
{'observation.state': List(Value('float64')), 'action': List(Value('float64')), 'timestamp': Value('float64'), 'frame_index': Value('int64'), 'episode_index': Value('int64'), 'index': Value('int64'), 'task_index': Value('int64')}
because column names don't match
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1816, in _prepare_split_single
for key, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
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 2369, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
episode_index: int64
tasks: list<item: string>
child 0, item: string
length: int64
task_index: int64
frame_index: int64
action: list<item: double>
child 0, item: double
index: int64
observation.state: list<item: double>
child 0, item: double
timestamp: double
to
{'observation.state': List(Value('float64')), 'action': List(Value('float64')), 'timestamp': Value('float64'), 'frame_index': Value('int64'), 'episode_index': Value('int64'), 'index': Value('int64'), 'task_index': Value('int64')}
because column names don't match
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 1683, 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 1869, 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.
observation.state list | action list | timestamp float64 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|
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End of preview.
physicalai-bmi/forge-arm-reach
An open robot-trajectory dataset generated fully in the browser, on-device with Institute for Physical AI · Forge (in-browser MuJoCo, on-device).
- Robot:
forge_arm - Task: Reach the target with the end effector
- Episodes: 11 · Frames: 3777 · Control rate: 60 Hz
- observation.state: 7 dims · action: 3 dims
Format
LeRobot v2.1-compatible. meta/ holds info.json, episodes.jsonl, tasks.jsonl, and stats.json.
Per-episode frames are provided both ways under data/chunk-000/:
episode_*.parquet— canonical LeRobot parquet (whatinfo.json'sdata_pathpoints at). Ready to load.episode_*.jsonl— the exact source produced client-side by the in-browser exporter, kept for provenance.
to_parquet.py is the (already-applied) converter, included so anyone can reproduce the parquet from the JSONL.
Load
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("physicalai-bmi/forge-arm-reach")
print(ds[0]["observation.state"], ds[0]["action"])
How it was made
Recorded in a real browser against the live Forge: the "Reach Trials" arm preset, auto-expert demonstrations, exported on-device. No hardware, no cloud, no install. Reproduce it yourself in about a minute.
See DATASHEET.md for provenance, composition, and intended uses. Licensed CC-BY-4.0.
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Models trained or fine-tuned on physicalai-bmi/forge-arm-reach