I got the same error:
dataset = torch.from_numpy(np.load("dataset.npy", allow_pickle=True))

TypeError: can't convert np.ndarray of type numpy.object_. The only supported types are: float64, float32, float16, int64, int32, int16, int8, uint8, and bool.

I tried converting the ndarray into a python list like this, but got another error (I think because its a 2D array/list)
dataset = np.load("dataset.npy", allow_pickle=True)
dataset = torch.Tensor(list(dataset))
ValueError: expected sequence of length 64 at dim 2 (got 2)

a object in the dataset has the shape of [[64,64],2]