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The dataset generation failed
Error code: DatasetGenerationError
Exception: ValueError
Message: Expected object or value
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column(/primitive_annotation/[]/object_id/[]/[]) changed from string to array in row 0
During handling of the above exception, another exception occurred:
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 304, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
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.
task_name string | data_folder string | meta_data dict | skill_annotation list | primitive_annotation list |
|---|---|---|---|---|
turning on radio | {
"task_duration": 1776,
"valid_duration": [
0,
1776
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
265
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2001,
"valid_duration": [
0,
2001
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
376
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2038,
"valid_duration": [
0,
2038
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
211
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 1839,
"valid_duration": [
0,
1839
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
308
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 1484,
"valid_duration": [
0,
1484
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
360
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2529,
"valid_duration": [
576,
3105
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
576,
1443
],
"mp_ef":... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2253,
"valid_duration": [
0,
2253
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
320
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2356,
"valid_duration": [
0,
2356
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
334
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2216,
"valid_duration": [
0,
2216
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
598
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2247,
"valid_duration": [
0,
2247
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
865
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2769,
"valid_duration": [
0,
2769
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
634
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2157,
"valid_duration": [
0,
2157
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
546
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 1985,
"valid_duration": [
6,
1991
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
6,
1033
],
"mp_ef": [... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2604,
"valid_duration": [
0,
2604
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
702
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2375,
"valid_duration": [
0,
2375
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
426
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 1860,
"valid_duration": [
0,
1860
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
521
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2190,
"valid_duration": [
0,
2190
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
424
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2399,
"valid_duration": [
0,
2399
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
530
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 1774,
"valid_duration": [
0,
1774
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
682
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2353,
"valid_duration": [
24,
2377
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
24,
816
],
"mp_ef": [... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 1896,
"valid_duration": [
0,
1896
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
538
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 1882,
"valid_duration": [
0,
1882
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
404
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2454,
"valid_duration": [
0,
2454
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
848
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
],
"memory_prefix": [],
"spatial_prefix... | |
turning on radio | {
"task_duration": 2133,
"valid_duration": [
0,
2133
]
} | [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"radio_89"
]
],
"manipulating_object_id": [],
"memory_prefix": [],
"spatial_prefix": [],
"frame_duration": [
0,
833
],
"mp_ef": []... | [
{
"primitive_idx": 0,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"radio_89",
"coffee_table_koagbh_0"
]
],
"manipulating_object_id": [
"radio_89"
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End of preview.
BEHAVIOR-1K 2026 Challenge Demos
This dataset contains BEHAVIOR-1K 2026 challenge demonstration trajectories in LeRobotDataset v3 format.
Dataset Statistics
- Tasks: 100
- Episodes: 20,000
- Frames: 210,916,774
- Size: approximately 3.0 TB
- Data shards: 955 Parquet files
- Video files: 17,093 MP4 files
- Video features: 6
Format
The repository follows the LeRobotDataset v3 layout:
meta/info.json: dataset schema and path templatesmeta/stats.json: feature statisticsmeta/tasks.parquet: task metadatameta/episodes/: per-episode metadata shardsdata/: frame-level Parquet shardsvideos/: encoded video shards
Loading
The full dataset is large. For a quick smoke test, load a single episode without videos:
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset(
"behavior-1k/2026-challenge-demos",
episodes=[0],
download_videos=False,
)
To load the dataset at the published LeRobot v3 revision explicitly:
dataset = LeRobotDataset(
"behavior-1k/2026-challenge-demos",
revision="v3.0",
)
Versioning
The v3.0 Hub tag is intended to match the LeRobot v3.0 codebase-compatible dataset revision.
License
This dataset is released under the MIT License. See LICENSE for the full text.
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