Histochemichael/microduck-electric-slide-policy
Robotics • Updated
Dataset Viewer
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: ValueError
Message: Expected object or value
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to string in row 0
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, 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 127, 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 483, 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 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, 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 304, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or valueNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Microduck Electric Slide Motion
Reproducible motion data for a physics-based, 25-robot Electric Slide in MuJoCo. The latest simple-v3 release implements a morphology-specific 16-count Microduck version: three travelling steps and tap/head-bob in each direction, three back steps and a tap, rock forward/back, step forward, and a physical left quarter-turn. The earlier canonical 18-count literal-v2 and human-pose experiments remain available for comparison.
The source tutorial is not redistributed. Human pose annotations correspond to
1:43–2:22 of How to Do the Electric Slide | Sexy Dance Moves.
The locally supplied 39.039 s clip had SHA-256
1154f82a0a17426532338a41bbefed412c709ace2d416940cd42cca736062e1d.
Simple-v3 additions
simple_reference_v3/simple_16_count_choreography.csv: exact v3 count, swing foot, placement, and weight-transfer map.simple_reference_v3/simple_joint_targets_50hz.jsonl: 1,730 samples with wall, count, phase, 13D policy command, additive 14D joint bias, and nominal 14D target in official Microduck order.examples/simple_v3/simple_16_count_contact_sheet.jpg: visual QA for every count, plus six full split-camera example frames.validation/electric_slide_25_ducks_simple_v3_split_front.physics.json: strict 25-robot MuJoCo telemetry.scripts/simple_choreography.py,scripts/export_simple_reference.py, andscripts/make_simple_contact_sheet.py: reproducible controller and exports.
Microduck has no jaw/beak actuator in the official 14-joint model, so counts 4 and 8 implement the requested “beak snap” as a sharp, visible neck/head pitch counter-motion.
Simple-v3 16-count map
| Counts | Motion |
|---|---|
| 1–4 | Right, left follows, right, left tap + head bob |
| 5–8 | Left, right follows, left, right tap + head bob |
| 9–12 | Back right, back left, back right, left tap |
| 13–16 | Rock forward, rock back, left forward, right scuff + left pivot |
Final simple-v3 physics result
| Gate | Result |
|---|---|
| Robots | 25 (5×5) |
| Physics / control rate | 200 / 50 Hz |
| Duration | 34.5946 s (64 counts at 111 BPM) |
| Root writes after reset | 0 |
| Fallen ducks | 0 |
| Inter-duck contacts | 0 |
| Minimum liftoffs per duck | 93 |
| Fully airborne fraction | 0.0 |
| Minimum pairwise separation | 1.314 m |
| Minimum trunk height | 0.103 m |
| Mean physical yaw over four pivots | 6.099 rad (349.44°; 87.36°/pivot) |
Center-duck step QC
The latest QC pass instruments the actual center pink duck at 50 Hz and grades all 16 counts over four wall repetitions. It uses measured trunk position, heading, body pitch, joint ranges, and left/right foot contacts; commanded targets alone do not count as evidence.
Result: 11 PASS, 2 PARTIAL, 3 FAIL. Counts 3, 5, and 6 fail the repeatability gate. Count 2 travels right only partially, while count 4 has a repeatable head bob but an unreliable left-foot tap. Back steps, forward step, rocks, counts 8/12, and all four physical pivots pass.
qc/simple_v3/center_duck_step_qc_64_events.csv: every wall/count endpoint, local displacement, yaw, pitch, and contact event.qc/simple_v3/center_duck_step_qc_16_summary.csv: aggregate PASS/PARTIAL/FAIL result for each named count.qc/simple_v3/center_duck_step_qc_report.md: criteria and findings.validation/electric_slide_25_ducks_simple_v3_split_front.physics.json: now includes the full center-duck 50 Hz body/contact trace.scripts/make_center_duck_step_qc.py: reproducible QC and image generator.
Literal-v2 additions
literal_reference/literal_18_count_choreography.csv: exact count, swing foot, retargeted placement, and weight-transfer flag.literal_reference/literal_joint_targets_50hz.jsonl: 1,946 frames with wall, count, phase, 13D policy command, additive 14D joint bias, and nominal 14D joint target in official Microduck order.literal_reference/literal_reference_summary.json: joint/command schemas and runtime composition notes.examples/literal_v2/literal_18_count_contact_sheet.jpg: labeled visual QA for every count, plus five larger example frames.validation/electric_slide_25_ducks_literal_split_front.physics.json: final strict MuJoCo report for all 25 robots.scripts/export_literal_reference.py,scripts/make_literal_contact_sheet.py, andscripts/probe_kinematics.py: reproducible exporters and morphology probe.
The nominal target in the JSONL is STAND_POSE + choreography_bias. At runtime
the official balance-policy action is added and clipped to the physical joint
limits. MuJoCo's free root is never written after reset.
Canonical 18-count map
| Counts | Motion |
|---|---|
| 1–4 | Right, left behind, right, left touch/stomp |
| 5–8 | Left, right behind, left, right touch/stomp |
| 9–12 | Back right, back left, back right, left touch |
| 13–16 | Left forward, right touch, right back, left touch |
| 17–18 | Left forward, right scuff with left quarter-turn |
Microduck's hip-roll stops do not permit a human-style leg-over-leg crossing. “Cross behind” is therefore retargeted to the closest feasible inward-and-rear foot placement while preserving side, order, contact, and rhythm.
Other included data
annotations/human_pose_coco17.jsonl: 936 frames × 2 dancers × 17 keypoints.annotations/motion_features.jsonl: smoothed pelvis-centered pose, joint angles, torso motion, visibility masks, and foot-contact likelihoods.annotations/step_events.csvandmotion_sections.json: plant candidates, camera cuts, and manual section labels.retarget/: the earlier human-motion command retarget and learned-expression timeline, retained for comparison with literal-v2.physics_reference/: earlier single-duck 50 Hz executed reference.examples/: source-free skeleton/contact visualizations.
Final literal-v2 physics result
| Gate | Result |
|---|---|
| Robots | 25 (5×5) |
| Physics / control rate | 200 / 50 Hz |
| Duration | 38.9189 s (72 counts at 111 BPM) |
| Root writes after reset | 0 |
| Fallen ducks | 0 |
| Inter-duck contacts | 0 |
| Minimum liftoffs per duck | 142 |
| Fully airborne fraction | 0.0 |
| Minimum pairwise separation | 1.223 m |
| Minimum trunk height | 0.100 m |
Timing, audio, and rights
The release targets 111 BPM to align with “Candy” by Cameo, but the commercial recording is not included. Add only audio you own or are licensed to use. Source video frames are also excluded; source-free skeletons and simulation images are provided instead.
Human annotations are monocular estimates, contacts are pseudo-labels, and the final result is a MuJoCo rollout—not a real-robot safety certificate. Review upstream Microduck asset licenses before redistribution or commercial use.
Related resources
- Downloads last month
- 23
Models trained or fine-tuned on Histochemichael/microduck-electric-slide-motion