RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Paper • 2607.04434 • Published • 17
Dataset Preview
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The dataset generation failed
Error code: DatasetGenerationError
Exception: ReadError
Message: unexpected end of data
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1531, in _prepare_split_single
for key, record 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/webdataset/webdataset.py", line 127, in _generate_examples
for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 51, in _get_pipeline_from_tar
current_example[field_name] = f.read()
~~~~~~^^
File "/usr/local/lib/python3.14/tarfile.py", line 707, in read
raise ReadError("unexpected end of data")
tarfile.ReadError: unexpected end of data
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 1393, 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 1571, 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.
jsonl unknown | __key__ string | __url__ string |
|---|---|---|
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwMzMvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000033 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwNjYvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000066 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwMjUvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000025 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwMDkvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000009 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwODAvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000080 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwODYvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000086 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwNTQvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000054 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwNDQvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000044 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwNzIvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000072 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
"eyJpbWFnZXNfMSI6eyJ0eXBlIjoidmlkZW8iLCJ1cmwiOiIuL3N3ZWVwX2Jsb2Nrcy9lcGlzb2RlXzAwMDAwNjcvY2FtX2hlYWQ(...TRUNCATED) | robodojo_sim/jsonl/sweep_blocks/episode_0000067 | "hf://datasets/Dexmal/robodojo-sim@135fb082cc4159c72f439380389e5c28f5d86cc1/robodojo_sim.tar.gz.part(...TRUNCATED) |
End of preview.
RoboDojo Sim Dataset
Dexdata format RoboDojo simulation dataset.
Download and Extract
If the dataset is uploaded as split tar archives:
cat robodojo_sim.tar.gz.part-* | tar -xzf -
After extraction, the dataset directory will be:
robodojo_sim/
Dataset Structure
robodojo_sim/
├── jsonl/
│ └── <task_name>/
│ └── episode_XXXXXXX.jsonl
└── video/
└── <task_name>/
└── episode_XXXXXXX/
├── cam_head.mp4
├── cam_left_wrist.mp4
└── cam_right_wrist.mp4
JSONL annotations and videos are matched by task name and episode ID.
Citation
@article{chen2026robodojo,
title={{RoboDojo}: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies},
author={Tianxing Chen and Yue Chen and Zixuan Li and Junyuan Tang and Kailun Su and others},
journal={arXiv preprint arXiv:2607.04434},
year={2026},
url={https://arxiv.org/abs/2607.04434}
}
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