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Datasets:
mao1207
/
genie_sim_demo

Tags:
genie-sim
teleop
simulation
usd
isaac-sim
License:
Dataset card Files
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Dataset Viewer
Duplicate
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
task: string
scene_usd: string
started_at: timestamp[s]
policy: string
subtasks: list<item: struct<subtask_idx_1based: int64, name: string, instruction: string, steps: int64, max_st (... 93 chars omitted)
  child 0, item: struct<subtask_idx_1based: int64, name: string, instruction: string, steps: int64, max_steps: int64, (... 81 chars omitted)
      child 0, subtask_idx_1based: int64
      child 1, name: string
      child 2, instruction: string
      child 3, steps: int64
      child 4, max_steps: int64
      child 5, elapsed_s: double
      child 6, success: bool
      child 7, criteria: list<item: null>
          child 0, item: null
      child 8, log_jsonl: string
replan_every: int64
all: bool
max_steps: int64
robot_radius: double
subtask: list<item: int64>
  child 0, item: int64
no_save_observations: bool
policy_host: string
no_nav: bool
policy_port: int64
results_root: string
cell_m: double
warmup_steps: int64
headless: bool
linear_speed: double
robot_root: string
check_success_every: int64
angular_speed: double
ctrl_freq_hz: int64
to
{'task': Value('string'), 'subtask': List(Value('int64')), 'all': Value('bool'), 'policy_host': Value('string'), 'policy_port': Value('int64'), 'ctrl_freq_hz': Value('int64'), 'replan_every': Value('int64'), 'max_steps': Value('int64'), 'check_success_every': Value('int64'), 'warmup_steps': Value('int64'), 'no_nav': Value('bool'), 'linear_speed': Value('float64'), 'angular_speed': Value('float64'), 'robot_radius': Value('float64'), 'cell_m': Value('float64'), 'results_root': Value('string'), 'no_save_observations': Value('bool'), 'robot_root': Value('string'), 'headless': Value('bool')}
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 299, 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 128, 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 2321, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2249, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              task: string
              scene_usd: string
              started_at: timestamp[s]
              policy: string
              subtasks: list<item: struct<subtask_idx_1based: int64, name: string, instruction: string, steps: int64, max_st (... 93 chars omitted)
                child 0, item: struct<subtask_idx_1based: int64, name: string, instruction: string, steps: int64, max_steps: int64, (... 81 chars omitted)
                    child 0, subtask_idx_1based: int64
                    child 1, name: string
                    child 2, instruction: string
                    child 3, steps: int64
                    child 4, max_steps: int64
                    child 5, elapsed_s: double
                    child 6, success: bool
                    child 7, criteria: list<item: null>
                        child 0, item: null
                    child 8, log_jsonl: string
              replan_every: int64
              all: bool
              max_steps: int64
              robot_radius: double
              subtask: list<item: int64>
                child 0, item: int64
              no_save_observations: bool
              policy_host: string
              no_nav: bool
              policy_port: int64
              results_root: string
              cell_m: double
              warmup_steps: int64
              headless: bool
              linear_speed: double
              robot_root: string
              check_success_every: int64
              angular_speed: double
              ctrl_freq_hz: int64
              to
              {'task': Value('string'), 'subtask': List(Value('int64')), 'all': Value('bool'), 'policy_host': Value('string'), 'policy_port': Value('int64'), 'ctrl_freq_hz': Value('int64'), 'replan_every': Value('int64'), 'max_steps': Value('int64'), 'check_success_every': Value('int64'), 'warmup_steps': Value('int64'), 'no_nav': Value('bool'), 'linear_speed': Value('float64'), 'angular_speed': Value('float64'), 'robot_radius': Value('float64'), 'cell_m': Value('float64'), 'results_root': Value('string'), 'no_save_observations': Value('bool'), 'robot_root': Value('string'), 'headless': Value('bool')}
              because column names don't match

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genie_sim_demo

Snapshot of two working trees for teleoperation on a personal machine:

  • genie_sim/ — AgiBot Genie Sim (Isaac Sim 4.5 based) with full asset library.
  • genie_sim_demo/ — Demo build with custom scenes:
    • demo_sim/livingroom_v1.usd, livingroom_v2.usd and livingroom_v1_water*.usda overlays
    • demo_sim/supermarket_v1.usd
    • assets_external/ — custom additions (cushion, trash_bin, wine_bottle)

⚠️ Heavy dirs were packed into .tar.zst files

To stay under HF's per-repo file limit and commit-rate limit, many directories were tarballed with zstd. Extract them in-place after downloading:

# Recursively extract every .tar.zst back to its original directory
find . -name "*.tar.zst" -execdir bash -c \
  'tar -I "zstd -d" -xf "$1" && rm "$1"' _ {} \;

Tarballed dirs:

original tarball
genie_sim/source/geniesim/assets/objects/ objects.tar.zst (12 G)
genie_sim/source/geniesim/assets/background/ background.tar.zst (8.3 G)
genie_sim/source/geniesim/assets/interaction/ interaction.tar.zst (622 M)
genie_sim/source/geniesim/assets/real2sim/ real2sim.tar.zst (1.5 G)
genie_sim/source/geniesim/assets/robot/ robot.tar.zst (203 M)
genie_sim/source/geniesim/assets/mujoco/ mujoco.tar.zst (13 M)
genie_sim/source/teleop/ teleop.tar.zst (16 M)
genie_sim/source/data_collection/ data_collection.tar.zst
genie_sim/3rdparty/ 3rdparty.tar.zst (75 M)
genie_sim/docs/, genie_sim/meta_examples/ docs.tar.zst, meta_examples.tar.zst
genie_sim_demo/source/sapien/ sapien.tar.zst (2.8 G)
genie_sim_demo/source/geniesim/ geniesim.tar.zst
genie_sim_demo/source/teleop/ teleop.tar.zst
genie_sim_demo/source/data_collection/ data_collection.tar.zst
genie_sim_demo/source/geniesim_world/ geniesim_world.tar.zst
genie_sim_demo/asset_catalog/ asset_catalog.tar.zst
genie_sim_demo/materials/textures/ textures.tar.zst
genie_sim_demo/3rdparty/ 3rdparty.tar.zst
genie_sim_demo/pour_water/ pour_water.tar.zst
genie_sim_demo/docs/ docs.tar.zst

Scene USDs (demo_sim/livingroom*.usd, demo_sim/supermarket_v1.usd) reference files inside several of these tarballs — extract before opening.

What's NOT included

  • genie_sim/output/, verifier_debug/, docker_cache/
  • genie_sim/training_data_clean_the_desktop_clipped_v2/ (2.8 G)
  • genie_sim_demo/demo_evaluation/model/ (5.3 G of eval checkpoints)
  • demo_sim/*_preview_*.usda (flattened debug copies, ~2.2 G)
  • demo_sim/*.bak*, tmp_share/, head.mp4, state_*.pkl, part1.txt, part2.txt
  • .git/, __pycache__/, *.pyc, .venv/, node_modules/

Download 

pip install huggingface_hub hf_transfer
export HF_HUB_ENABLE_HF_TRANSFER=1
huggingface-cli download mao1207/genie_sim_demo \
  --repo-type dataset --local-dir ./genie_sim_demo \
  --max-workers 8

cd genie_sim_demo
find . -name "*.tar.zst" -execdir bash -c \
  'tar -I "zstd -d" -xf "$1" && rm "$1"' _ {} \;

License

See LICENSE and THIRD_PARTY_LICENSES inside each subtree. Genie Sim code follows AgiBot's upstream license; sapien assets follow their respective upstream licenses (PartNet-Mobility etc.).
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