Search is not available for this dataset
annotation.human.task_description int64 0 8 | annotation.human.task_name int64 1 9 | observation.state list | action list | next.reward float32 0 1 | next.done bool 2
classes | timestamp float32 0 30.1 | frame_index int64 0 602 | episode_index int64 0 3k | index int64 0 639k | task_index int64 0 18 |
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End of preview. Expand in Data Studio
robocasa_mt5_PH100_TH500
This dataset was created using LeRobot.
Dataset Description
This is a custom RoboCasa365 v1.0.0 dataset exported in LeRobot format.
It was built from the mt5 5-task group using human demos only.
mt5 is the 5-task group used for this dataset.
It expands to the five RoboCasa leaf tasks listed below.
Name Breakdown
robocasa_mt5_PH100_TH500mt5= the 5-task group used for this datasetPH100= up to100demos per task from thepretraining-humanpool (pretrain-human)TH500= up to500demos per task fromtarget-human
The 5 Tasks
CloseToasterOvenDoorOpenDrawerPickPlaceDrawerToCounterTurnOnElectricKettleSlideDishwasherRack
Per-task Episode Counts
CloseToasterOvenDoor:PH=100,TH=500, total600episodesOpenDrawer:PH=100,TH=500, total600episodesPickPlaceDrawerToCounter:PH=100,TH=500, total600episodesTurnOnElectricKettle:PH=100,TH=500, total600episodesSlideDishwasherRack:PH=100,TH=500, total600episodes
That yields 3000 episodes total.
What total_tasks = 20 Means
The mt5 group contains 5 RoboCasa env tasks, but meta/info.json reports
total_tasks = 20 because meta/tasks.parquet stores the full vocabulary of
task-related strings used by the dataset, including:
- canonical task names such as
CloseToasterOvenDoor - human instruction strings such as
Close the toaster oven door. - object-specific instruction variants for
PickPlaceDrawerToCounter - side/direction variants for tasks like
OpenDrawerandSlideDishwasherRack
The frame data use integer indices, and those indices resolve through meta/tasks.parquet
for fields like annotation.human.task_name, annotation.human.task_description, and
task_index.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "PandaOmron",
"total_episodes": 3000,
"total_frames": 639196,
"total_tasks": 20,
"fps": 20,
"splits": {
"train": "0:3000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
}
Source
- Underlying benchmark family:
RoboCasa365 v1.0.0 - Dataset repo:
chaoqi-liu/robocasa_mt5_PH100_TH500 - Pool caps used to build this merge:
{'pretrain-human': 100, 'target-human': 500}
Notes
- This dataset includes
pretrain-humanandtarget-humandemos only. pretrain-mimicgenwas not included in this merge.- Total size:
639196frames at20FPS.
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