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Datasets:
ChangChrisLiu
/
GWAM_Data

Tasks:
Robotics
Tags:
robotics
robocasa
graph-world-model
graph-wam
dreamzero
manipulation
License:
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GWAM_Data / docs /DOWNLOAD_AND_PROCESS.md
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ChangChrisLiu
Add GWAM_Data v1 docs-first graph schema package
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Download and Processing Notes

Current local status from Loki inspection

  • RoboCasa installed package: robocasa==1.0.1.
  • Dataset soup target_atomic_seen exists and contains 18 tasks.
  • Default RoboCasa target Atomic-Seen paths point under the installed package's sibling datasets/v1.0/... directory unless DATASET_BASE_PATH is configured.
  • Local disk checked on 2026-07-02: about 562G free under /home/chris.
  • The automatic confirmation dry-run/download command was blocked by safety controls, so no dataset was downloaded in that step and no exact size was measured.

Safe download procedure

  1. Set a dataset base path with enough space, preferably outside site-packages:
# robocasa/macros_private.py or environment-specific config
DATASET_BASE_PATH = "/home/chris/robocasa_datasets"
  1. Run download manually for the 18 target Atomic-Seen tasks:
source /home/chris/anaconda3/bin/activate robocasa
python -m robocasa.scripts.download_datasets   --split target   --source human   --tasks   CloseBlenderLid CloseFridge CloseToasterOvenDoor CoffeeSetupMug NavigateKitchen   OpenCabinet OpenDrawer OpenStandMixerHead PickPlaceCounterToCabinet   PickPlaceCounterToStove PickPlaceDrawerToCounter PickPlaceSinkToCounter   PickPlaceToasterToCounter SlideDishwasherRack TurnOffStove   TurnOnElectricKettle TurnOnMicrowave TurnOnSinkFaucet

  1. Confirm the prompt manually after checking destination and disk.

  2. Verify each downloaded lerobot folder has:

meta/info.json
meta/tasks.jsonl
videos/chunk-000/observation.images.robot0_agentview_right/
videos/chunk-000/observation.images.robot0_agentview_left/
videos/chunk-000/observation.images.robot0_eye_in_hand/

Processing blocker to resolve

Flattened LeRobot videos alone are not sufficient for oracle segmentation/contact graph extraction. The extractor needs raw HDF5 states/model metadata or a replayable source that includes simulator states. If only LeRobot videos are present, v1 oracle graph extraction must use the corresponding raw HDF5 dataset or reconstruct replay metadata from extras/ if available.