Echo: Coupled Action and Task Status Signal Denoising for Vision Language Action Models
Paper • 2610.31569 • Published • 3
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 84, in _split_generators
raise ValueError(
...<2 lines>...
)
ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
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/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Echo Failure LIBERO
Terminal-failure trajectories for Echo: Coupled Action and Task Status Signal Denoising for Vision Language Action Models.
The dataset contains 9,521 trajectories and 4,950,920 frames collected by a π0.5 policy from LIBERO-Recovery scenes. Each trajectory reaches the 520-action time limit without task success. It provides the terminal-failure component of Echo's three-type simulation training data.
Download
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="echo-iclr/echo-failure-libero",
repo_type="dataset",
revision="71e79ed6bcf4c9a6468f6919194a780f84e7dae9",
local_dir="data/failure",
)
All 96 data shards are available. archives.json lists shard sizes and SHA-256
checksums; inventory.json lists the 47,605 episode files. The Echo codebase's
python -m echo.data.fetch --source failure command downloads, verifies and
extracts them automatically.
Format
Each tar shard contains files with the following layout:
episodes/failure_000000/
trajectory.npz # actions: float32 [520,7]; states: float32 [520,8]
agentview.mp4 # third-person RGB observations
wrist.mp4 # wrist-camera RGB observations
episode.json # length, instruction and outcome
files.json # per-file sizes and SHA-256 checksums
Videos contain the observation before each policy action, at 20 Hz. The gripper uses LIBERO's signed action convention. Training windows stay within each trajectory; failure actions are masked out of the imitation loss.
Other training data
| Type | Dataset |
|---|---|
| Success | physical-intelligence/libero, yzembodied/libero_90_image |
| Recovery | ataier/LIBERO_Recovery_Expert |
Evaluation scenes are provided by ataier/LIBERO_Recovery_Assets. We thank LIBERO and LIBERO-Recovery for the simulation environments and recovery data. Upstream data and assets retain their original terms.
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