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NLTuan
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dual_camera_torque_demo_original_combined_corrected

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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: 
original_repo: string
total_frames: int64
corrections_identified: struct<observation_spikes: int64, torque_corrections: int64, total: int64>
corrections: struct<2: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 3: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 4: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 5: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 6: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 7: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 8: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 9: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 10: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 11: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 12: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 13: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 177: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 227: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 229: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 230: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 232: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 233: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 234: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 274: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 281: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 282: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 283: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 284: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 285: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 286: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 287: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 288: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 289: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 290: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 291: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 323: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 421: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 422: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 424: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 425: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 530: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 531: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 533: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 534: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 536: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 537: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 691: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>>
status: string
vs
original_repo: string
total_frames: int64
corrections_applied: struct<observation_spikes_removed: int64, torque_corrections: int64, total_corrections: int64>
spike_details: list<item: struct<frame: int64, method: string, reason: string>>
torque_corrections: struct<2: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 3: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 4: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 5: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 6: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 7: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 8: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 9: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 10: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 11: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 12: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 13: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 177: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 227: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 229: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 230: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 232: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 233: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 234: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 274: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 281: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 282: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 283: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 284: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 285: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 286: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 287: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 288: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 289: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 290: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 291: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 323: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 421: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 422: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 424: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 425: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 530: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 531: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 533: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 534: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 536: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 537: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 691: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>>
status: string
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 559, 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: 
              original_repo: string
              total_frames: int64
              corrections_identified: struct<observation_spikes: int64, torque_corrections: int64, total: int64>
              corrections: struct<2: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 3: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 4: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 5: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 6: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 7: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 8: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 9: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 10: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 11: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 12: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 13: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 177: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 227: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 229: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 230: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 232: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 233: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 234: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 274: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 281: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 282: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 283: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 284: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 285: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 286: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 287: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 288: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 289: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 290: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 291: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 323: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 421: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 422: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 424: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 425: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 530: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 531: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 533: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 534: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 536: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 537: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 691: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>>
              status: string
              vs
              original_repo: string
              total_frames: int64
              corrections_applied: struct<observation_spikes_removed: int64, torque_corrections: int64, total_corrections: int64>
              spike_details: list<item: struct<frame: int64, method: string, reason: string>>
              torque_corrections: struct<2: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 3: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 4: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 5: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 6: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 7: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 8: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 9: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 10: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 11: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 12: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 13: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 177: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 227: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 229: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 230: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 232: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 233: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 234: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 274: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 281: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 282: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 283: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 284: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 285: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 286: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 287: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 288: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 289: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 290: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 291: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 323: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 421: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 422: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 424: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 425: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 530: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 531: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 533: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 534: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 536: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 537: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>, 691: struct<reason: string, movement: double, original_action: list<item: double>, corrected_action: list<item: double>, target_observation: list<item: double>>>
              status: string

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Torque-Corrected LeRobot Dataset

This dataset represents a corrected version of NLTuan/dual_camera_torque_demo_original with comprehensive torque control analysis and corrections applied.

Analysis Results

Phase 1: Observation Spike Detection

  • 116 observation spikes detected using multiple detection methods:
    • 90-degree reset detection (sensor errors)
    • Sudden movement detection (impossible large changes)
    • Statistical outlier detection (deviations from local patterns)

Phase 2: Torque Control Corrections

  • 43 torque control periods identified where manual robot control occurred
  • Action-observation mismatches detected and corrected
  • Actions updated to reflect actual robot movement during torque-disabled periods

Dataset Quality Improvements

  • Total corrections applied: 159
  • Observation spikes removed: 116
  • Torque corrections: 43
  • Dataset frames: 743

What was corrected

  1. Observation Spikes: Sensor errors causing sudden jumps to 90° positions were detected and corrected via interpolation
  2. Torque Control Actions: During manual control periods (torque disabled), actions were updated to match subsequent robot positions accurately representing manual movements

Usage 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

# Load the corrected dataset
dataset = LeRobotDataset("NLTuan/dual_camera_torque_demo_original_combined_corrected")

Technical Notes

This dataset includes comprehensive correction analysis with validated improvements ready for training imitation learning policies.

Original Dataset: NLTuan/dual_camera_torque_demo_original

Processing Status: ✅ Complete - All corrections applied and validated
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