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
episode_id: int32
frame_idx: int32
jpeg: binary
depth: binary
seg: binary
pose: fixed_size_list<element: double>[16]
child 0, element: double
intrinsics: fixed_size_list<element: float>[4]
child 0, element: float
gravity: fixed_size_list<element: float>[3]
child 0, element: float
scene: string
trajectory: string
dataset: string
depth_type: string
camera_model: string
image_h: int32
image_w: int32
num_frames_in_episode: int32
to
{'episode_id': Value('int32'), 'frame_idx': Value('int32'), 'jpeg': Value('binary'), 'depth': List(Value('float32')), 'seg': List(Value('uint16')), 'pose': List(Value('float64')), 'intrinsics': List(Value('float32')), 'gravity': List(Value('float32')), 'scene': Value('string'), 'trajectory': Value('string'), 'dataset': Value('string'), 'camera_model': Value('string'), 'image_h': Value('int32'), 'image_w': Value('int32'), 'num_frames_in_episode': Value('int32')}
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/parquet/parquet.py", line 209, in _generate_tables
yield Key(file_idx, batch_idx), self._cast_table(pa_table)
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/parquet/parquet.py", line 147, 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 2272, in table_cast
return cast_table_to_schema(table, schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
raise CastError(
datasets.table.CastError: Couldn't cast
episode_id: int32
frame_idx: int32
jpeg: binary
depth: binary
seg: binary
pose: fixed_size_list<element: double>[16]
child 0, element: double
intrinsics: fixed_size_list<element: float>[4]
child 0, element: float
gravity: fixed_size_list<element: float>[3]
child 0, element: float
scene: string
trajectory: string
dataset: string
depth_type: string
camera_model: string
image_h: int32
image_w: int32
num_frames_in_episode: int32
to
{'episode_id': Value('int32'), 'frame_idx': Value('int32'), 'jpeg': Value('binary'), 'depth': List(Value('float32')), 'seg': List(Value('uint16')), 'pose': List(Value('float64')), 'intrinsics': List(Value('float32')), 'gravity': List(Value('float32')), 'scene': Value('string'), 'trajectory': Value('string'), 'dataset': Value('string'), 'camera_model': Value('string'), 'image_h': Value('int32'), 'image_w': Value('int32'), 'num_frames_in_episode': Value('int32')}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
hypersim-episodes-v3-parquet
Per-frame Parquet dataset for ReCAST tracker training.
Schema
One row per frame, grouped by episode_id. Arrow memory-mapped access
enables reading specific frames without loading entire episodes.
| Column | Type | Description |
|---|---|---|
| episode_id | int32 | Episode identifier |
| frame_idx | int32 | Frame index within episode |
| jpeg | binary | JPEG-encoded RGB frame |
| depth | list<float32> | Flat H×W depth map |
| seg | list<uint16> | Semantic segmentation (empty if absent) |
| pose | fixed_size_list<float64, 16> | 4×4 camera-to-world pose (vision convention) |
| intrinsics | fixed_size_list<float32, 4> | [fx, fy, cx, cy] in pixels |
| gravity | fixed_size_list<float32, 3> | World-frame gravity direction |
| camera_model | string | "pinhole" or "equidistant" |
Conventions
- Poses: Vision convention (X=right, Y=down, Z=forward). Normalized during conversion.
- Depth: Projective z-depth (TartanAir) or ray distance (Hypersim). Check
datasetcolumn. - Gravity: Unit vector pointing downward in world frame.
Provenance
- Dataset: hypersim
- Episodes: 87
- Frames: 6870
- Created: 2026-03-15T06:59:46.630092+00:00
- Converter:
scripts/convert_episodes_to_parquet.py
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