Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models
Paper • 2606.21672 • Published
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 81, in _split_generators
first_examples = list(islice(pipeline, self.NUM_EXAMPLES_FOR_FEATURES_INFERENCE))
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
fs: fsspec.AbstractFileSystem = fsspec.filesystem("memory")
~~~~~~~~~~~~~~~~~^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/fsspec/registry.py", line 302, in filesystem
cls = get_filesystem_class(protocol)
File "/usr/local/lib/python3.14/site-packages/fsspec/registry.py", line 239, in get_filesystem_class
raise ValueError(f"Protocol not known: {protocol}")
ValueError: Protocol not known: memory
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 71, 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.
GLAM Datasets
Heterogeneous manipulation demonstrations for GLAM: Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models (project page · code).
Each task combines a small target set — action-labelled demonstrations on our dual-arm Kinova robot (Frank) in MuJoCo — with a larger, action-free auxiliary set collected by a floating UMI gripper, also in MuJoCo.
Contents
| Archive | Task | Episodes | Size |
|---|---|---|---|
stack_two.tar |
task 1 — stack two cubes (single arm) | 500 UMI + 500 Frank | 29 GB |
stack_three.tar |
task 2 — stack three cubes (dual arm) | 500 UMI + 200 Frank | 31 GB |
Each episode folder contains the trajectory (*.npz: poses, joints, actions), raw RGB frames from
two cameras (front_frames/, overhead_frames/), and the corresponding object masks
(*_frames_mask/).
Usage
pip install -U huggingface_hub
hf download VVVVVVVVIC/glam-datasets --repo-type dataset --local-dir data/
tar -xf data/stack_two.tar -C data/ && rm data/stack_two.tar
tar -xf data/stack_three.tar -C data/ && rm data/stack_three.tar
This produces data/stack_two/{umi,frank}/task_01/... and data/stack_three/{umi,frank}/task_02/...,
ready for the training commands in the GLAM repository.
Citation
@article{wang2026imitation,
title={Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models},
author={Wang, Tianyou and Lei, Anson and Watson, Joe and Posner, Ingmar},
journal={arXiv preprint arXiv:2606.21672},
year={2026}
}
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