Datasets:

scilwb
/

behavior-explore

License:

Dataset Viewer

Split (1)

train

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
artifacts: struct<base_baseline_receipt: struct<path: string, sha256: string>, result: struct<path: string, sha (... 13 chars omitted)
  child 0, base_baseline_receipt: struct<path: string, sha256: string>
      child 0, path: string
      child 1, sha256: string
  child 1, result: struct<path: string, sha256: string>
      child 0, path: string
      child 1, sha256: string
authorities: struct<action_spec: struct<path: string, sha256: string>, atomic_sim_receipt_schema: struct<path: st (... 528 chars omitted)
  child 0, action_spec: struct<path: string, sha256: string>
      child 0, path: string
      child 1, sha256: string
  child 1, atomic_sim_receipt_schema: struct<path: string, sha256: string>
      child 0, path: string
      child 1, sha256: string
  child 2, base_model: struct<path: string, sha256: string>
      child 0, path: string
      child 1, sha256: string
  child 3, canonical_config: struct<path: string, raw_sha256: string, resolved_contract_sha256: string>
      child 0, path: string
      child 1, raw_sha256: string
      child 2, resolved_contract_sha256: string
  child 4, completion_contract: struct<path: string, sha256: string>
      child 0, path: string
      child 1, sha256: string
  child 5, output_abi: struct<rlinf_path: string, rpent_path: string, sha256: string>
      child 0, rlinf_path: string
      child 1, rpent_path: string
      child 2, sha256: string
  child 6, prompt_contract: struct<path: string, sha256: string>
      child 0, path: str
...
, split_sha256: string
  child 26, splits_file_sha256: string
  child 27, torch_seed: int64
  child 28, val_completion_accuracy: double
  child 29, val_completion_label_count: double
  child 30, val_completion_loss: double
  child 31, val_prompt_swap_accuracy_available: bool
  child 32, val_prompt_swap_rollout_receipt_count: int64
  child 33, val_same_state_action_divergence_available: bool
  child 34, val_same_state_common_noise_action_rms_max: null
  child 35, val_same_state_common_noise_action_rms_mean: null
  child 36, val_same_state_common_noise_action_rms_min: null
  child 37, val_same_state_offline_telemetry_only: bool
  child 38, val_same_state_pair_count: int64
  child 39, validation_anchor_count: int64
  child 40, validation_anchors_sha256: string
  child 41, validation_contexts_sha256: string
  child 42, validation_device: string
  child 43, validation_device_policy: string
  child 44, validation_episode_ids_sha256: string
  child 45, validation_flow_forward_count: int64
  child 46, validation_forward_count: int64
  child 47, validation_forward_ledger_sha256: string
  child 48, validation_identity_sha256: string
  child 49, validation_model_dtype: string
  child 50, validation_purpose: string
  child 51, validation_same_state_pair_count: int64
  child 52, validation_split: string
  child 53, validator_source_sha256: string
mode: string
receipt_payload_sha256: string
score: double
metric_name: string
validation_identity_sha256: string
global_step: int64
kind: string
to
{'base_model_sha256': Value('string'), 'global_step': Value('int64'), 'kind': Value('string'), 'metric_name': Value('string'), 'metrics': {'atomic_sim_receipt_schema_sha256': Value('string'), 'base_model_sha256': Value('string'), 'canonical_config_name': Value('string'), 'canonical_raw_config_sha256': Value('string'), 'canonical_resolved_config_sha256': Value('string'), 'canonical_resolved_contract_sha256': Value('string'), 'checkpoint_model_sha256': Value('string'), 'completion_contract_sha256': Value('string'), 'completion_head_is_default': Value('float64'), 'deterministic_algorithms': Value('bool'), 'floating_tensor_count': Value('int64'), 'global_step': Value('int64'), 'language_lora_tensor_count': Value('int64'), 'masked_val_flow_loss': Value('float64'), 'prompt_following_score': Value('float64'), 'prompt_release_manifest_sha256': Value('string'), 'required_same_state_sim_receipt_schema_sha256': Value('string'), 'same_state_eval_sidecar_sha256': Value('string'), 'same_state_keys_sha256': Value('string'), 'same_state_pair_ids_sha256': Value('string'), 'same_state_pair_schema_sha256': Value('string'), 'same_state_sim_receipt_schema_sha256': Value('string'), 'schema_version': Value('string'), 'source_manifest_sha256': Value('string'), 'source_revision': Value('string'), 'split_sha256': Value('string'), 'splits_file_sha256': Value('string'), 'torch_seed': Value('int64'), 'val_completion_accuracy': Value('float64'), 'val_completion_label_count': Value('float64'), 'val_completion_loss': Value('float64'), 'val_prompt_swap_accuracy_available': Value('bool'), 'val_prompt_swap_rollout_receipt_count': Value('int64'), 'val_same_state_action_divergence_available': Value('bool'), 'val_same_state_common_noise_action_rms_max': Value('null'), 'val_same_state_common_noise_action_rms_mean': Value('null'), 'val_same_state_common_noise_action_rms_min': Value('null'), 'val_same_state_offline_telemetry_only': Value('bool'), 'val_same_state_pair_count': Value('int64'), 'validation_anchor_count': Value('int64'), 'validation_anchors_sha256': Value('string'), 'validation_contexts_sha256': Value('string'), 'validation_device': Value('string'), 'validation_device_policy': Value('string'), 'validation_episode_ids_sha256': Value('string'), 'validation_flow_forward_count': Value('int64'), 'validation_forward_count': Value('int64'), 'validation_forward_ledger_sha256': Value('string'), 'validation_identity_sha256': Value('string'), 'validation_model_dtype': Value('string'), 'validation_purpose': Value('string'), 'validation_same_state_pair_count': Value('int64'), 'validation_split': Value('string'), 'validator_source_sha256': Value('string')}, 'mode': Value('string'), 'receipt_payload_sha256': Value('string'), 'schema_version': Value('string'), 'score': Value('float64'), 'status': Value('string'), 'validation_identity_sha256': Value('string')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, 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 129, 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 489, 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 2818, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, 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 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
              artifacts: struct<base_baseline_receipt: struct<path: string, sha256: string>, result: struct<path: string, sha (... 13 chars omitted)
                child 0, base_baseline_receipt: struct<path: string, sha256: string>
                    child 0, path: string
                    child 1, sha256: string
                child 1, result: struct<path: string, sha256: string>
                    child 0, path: string
                    child 1, sha256: string
              authorities: struct<action_spec: struct<path: string, sha256: string>, atomic_sim_receipt_schema: struct<path: st (... 528 chars omitted)
                child 0, action_spec: struct<path: string, sha256: string>
                    child 0, path: string
                    child 1, sha256: string
                child 1, atomic_sim_receipt_schema: struct<path: string, sha256: string>
                    child 0, path: string
                    child 1, sha256: string
                child 2, base_model: struct<path: string, sha256: string>
                    child 0, path: string
                    child 1, sha256: string
                child 3, canonical_config: struct<path: string, raw_sha256: string, resolved_contract_sha256: string>
                    child 0, path: string
                    child 1, raw_sha256: string
                    child 2, resolved_contract_sha256: string
                child 4, completion_contract: struct<path: string, sha256: string>
                    child 0, path: string
                    child 1, sha256: string
                child 5, output_abi: struct<rlinf_path: string, rpent_path: string, sha256: string>
                    child 0, rlinf_path: string
                    child 1, rpent_path: string
                    child 2, sha256: string
                child 6, prompt_contract: struct<path: string, sha256: string>
                    child 0, path: str
              ...
              , split_sha256: string
                child 26, splits_file_sha256: string
                child 27, torch_seed: int64
                child 28, val_completion_accuracy: double
                child 29, val_completion_label_count: double
                child 30, val_completion_loss: double
                child 31, val_prompt_swap_accuracy_available: bool
                child 32, val_prompt_swap_rollout_receipt_count: int64
                child 33, val_same_state_action_divergence_available: bool
                child 34, val_same_state_common_noise_action_rms_max: null
                child 35, val_same_state_common_noise_action_rms_mean: null
                child 36, val_same_state_common_noise_action_rms_min: null
                child 37, val_same_state_offline_telemetry_only: bool
                child 38, val_same_state_pair_count: int64
                child 39, validation_anchor_count: int64
                child 40, validation_anchors_sha256: string
                child 41, validation_contexts_sha256: string
                child 42, validation_device: string
                child 43, validation_device_policy: string
                child 44, validation_episode_ids_sha256: string
                child 45, validation_flow_forward_count: int64
                child 46, validation_forward_count: int64
                child 47, validation_forward_ledger_sha256: string
                child 48, validation_identity_sha256: string
                child 49, validation_model_dtype: string
                child 50, validation_purpose: string
                child 51, validation_same_state_pair_count: int64
                child 52, validation_split: string
                child 53, validator_source_sha256: string
              mode: string
              receipt_payload_sha256: string
              score: double
              metric_name: string
              validation_identity_sha256: string
              global_step: int64
              kind: string
              to
              {'base_model_sha256': Value('string'), 'global_step': Value('int64'), 'kind': Value('string'), 'metric_name': Value('string'), 'metrics': {'atomic_sim_receipt_schema_sha256': Value('string'), 'base_model_sha256': Value('string'), 'canonical_config_name': Value('string'), 'canonical_raw_config_sha256': Value('string'), 'canonical_resolved_config_sha256': Value('string'), 'canonical_resolved_contract_sha256': Value('string'), 'checkpoint_model_sha256': Value('string'), 'completion_contract_sha256': Value('string'), 'completion_head_is_default': Value('float64'), 'deterministic_algorithms': Value('bool'), 'floating_tensor_count': Value('int64'), 'global_step': Value('int64'), 'language_lora_tensor_count': Value('int64'), 'masked_val_flow_loss': Value('float64'), 'prompt_following_score': Value('float64'), 'prompt_release_manifest_sha256': Value('string'), 'required_same_state_sim_receipt_schema_sha256': Value('string'), 'same_state_eval_sidecar_sha256': Value('string'), 'same_state_keys_sha256': Value('string'), 'same_state_pair_ids_sha256': Value('string'), 'same_state_pair_schema_sha256': Value('string'), 'same_state_sim_receipt_schema_sha256': Value('string'), 'schema_version': Value('string'), 'source_manifest_sha256': Value('string'), 'source_revision': Value('string'), 'split_sha256': Value('string'), 'splits_file_sha256': Value('string'), 'torch_seed': Value('int64'), 'val_completion_accuracy': Value('float64'), 'val_completion_label_count': Value('float64'), 'val_completion_loss': Value('float64'), 'val_prompt_swap_accuracy_available': Value('bool'), 'val_prompt_swap_rollout_receipt_count': Value('int64'), 'val_same_state_action_divergence_available': Value('bool'), 'val_same_state_common_noise_action_rms_max': Value('null'), 'val_same_state_common_noise_action_rms_mean': Value('null'), 'val_same_state_common_noise_action_rms_min': Value('null'), 'val_same_state_offline_telemetry_only': Value('bool'), 'val_same_state_pair_count': Value('int64'), 'validation_anchor_count': Value('int64'), 'validation_anchors_sha256': Value('string'), 'validation_contexts_sha256': Value('string'), 'validation_device': Value('string'), 'validation_device_policy': Value('string'), 'validation_episode_ids_sha256': Value('string'), 'validation_flow_forward_count': Value('int64'), 'validation_forward_count': Value('int64'), 'validation_forward_ledger_sha256': Value('string'), 'validation_identity_sha256': Value('string'), 'validation_model_dtype': Value('string'), 'validation_purpose': Value('string'), 'validation_same_state_pair_count': Value('int64'), 'validation_split': Value('string'), 'validator_source_sha256': Value('string')}, 'mode': Value('string'), 'receipt_payload_sha256': Value('string'), 'schema_version': Value('string'), 'score': Value('float64'), 'status': Value('string'), 'validation_identity_sha256': Value('string')}
              because column names don't match

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BEHAVIOR Explore legacy archive

This dataset repository is the audit archive for the superseded RPent / RLinf BEHAVIOR prompt-following route.

Current decision

The old pi05-b1kpt50-cs32 / canonical step1167 / LoRA step338 line is retired. None of these weights is an initialization point for the new training stages. The new route starts from the official Physical Intelligence pi05_base JAX/Orbax checkpoint, converts it for the BEHAVIOR 32-action-horizon PyTorch stack, recomputes normalization statistics on the 142 canonical train episodes, trains language-action without image tokens, then adds vision in a second canonical SFT stage.

Repository layout

legacy/models/pi05-b1kpt50-cs32/: third-party Comet BEHAVIOR pt50 PyTorch model formerly used by RPent. Historical reference only.
legacy/training/canonical/: canonical training checkpoints, deploy exports, validation receipts, and logs, including step1167. Historical reference only; the sim exit gate was not completed.
legacy/training/lora/: stopped native-LoRA run and its evaluated step338 checkpoint. Historical reference only.
legacy/diagnostics/: interrupted anchor/canonical campaigns, routing experiments, simulator authority artifacts, and production smokes. These are audit evidence, not a completed training dataset.
legacy/source-snapshot/: exact dirty-worktree source/config files needed to interpret receipts and hashes. Git commit IDs alone were insufficient because material files were untracked or modified.
manifests/: machine-readable local-to-Hub mapping, sizes, SHA-256 digests, and archival status.

Important data boundaries

The local canonical dataset at task-0001-prompt-following-canonical-v1 contains 142 train episodes, 1,704 segments, and 663,708 canonical 32-step windows. It remains the input to the new LA and VLA stages and is intentionally not deleted or duplicated here.
The interrupted rpent-anchor-272-v2 run ended with 70 completed formal cases and 16 stale-running status files after intentional shutdown; it has no final aggregate and must not be described as a 272-case completion set.
The older rpent-anchor-272-v1 and rpent-routeb-272-v1 trees are failure/diagnostic evidence only.
exact_historical_restore=false for Parquet anchor materialization receipts. One explicit warm-up physics tick was part of the accepted state-construction contract.

Model lineage

pi05-b1kpt50-cs32 is not the official pi05_base; it came from the third-party sunshk/openpi_comet BEHAVIOR pt50 release.
canonical step1167 passed its CPU validation but did not complete the formal simulator exit gate.
LoRA step338 is the only evaluated recoverable LoRA checkpoint; later in-memory progress was never sealed.
The future official base is sourced separately from gs://openpi-assets/checkpoints/pi05_base and is not part of this legacy archive.

Restoration and integrity

Use the files under manifests/ to verify local or downloaded bytes. Large Hub objects are checked against their LFS/Xet SHA-256 metadata before the corresponding local copies are deleted. Small files are re-downloaded or byte-checked. Absolute symlinks from the old model tree are represented as ordinary copied files plus documented link mappings.

Guidance for future AI agents

Do not resume the old 272 campaign or use its partial completion sources as a formal aggregate.
Do not initialize either new training stage from b1kpt50, step1167, step767, or LoRA step338.
Preserve the 142-episode canonical dataset locally; it is the intended training data.
For phase one, image token blocks must be omitted before SigLIP, not replaced with black images and not merely masked after image encoding.
Recompute BEHAVIOR normalization statistics by exact enumeration of canonical train windows and action_valid_mask; the prior generic statistics script is not an exact substitute.
Treat official task success, local subtask predicates, workflow sealing, and publication as separate facts.

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Total file size:

71 GB