docs/EXTRACTION_PLAN.md

Extraction Plan: RoboCasa target Atomic-Seen Graph Dataset v1

Inputs

RoboCasa target Atomic-Seen human datasets, 18 tasks:

• CloseBlenderLid: v1.0/target/atomic/CloseBlenderLid/20250822, horizon 900
• CloseFridge: v1.0/target/atomic/CloseFridge/20250816, horizon 900
• CloseToasterOvenDoor: v1.0/target/atomic/CloseToasterOvenDoor/20250818, horizon 450
• CoffeeSetupMug: v1.0/target/atomic/CoffeeSetupMug/20250813, horizon 600
• NavigateKitchen: v1.0/target/atomic/NavigateKitchen/20250821, horizon 450
• OpenCabinet: v1.0/target/atomic/OpenCabinet/20250813, horizon 1050
• OpenDrawer: v1.0/target/atomic/OpenDrawer/20250816, horizon 750
• OpenStandMixerHead: v1.0/target/atomic/OpenStandMixerHead/20250818, horizon 450
• PickPlaceCounterToCabinet: v1.0/target/atomic/PickPlaceCounterToCabinet/20250811, horizon 750
• PickPlaceCounterToStove: v1.0/target/atomic/PickPlaceCounterToStove/20250818, horizon 600
• PickPlaceDrawerToCounter: v1.0/target/atomic/PickPlaceDrawerToCounter/20250820, horizon 750
• PickPlaceSinkToCounter: v1.0/target/atomic/PickPlaceSinkToCounter/20250813, horizon 900
• PickPlaceToasterToCounter: v1.0/target/atomic/PickPlaceToasterToCounter/20250817, horizon 600
• SlideDishwasherRack: v1.0/target/atomic/SlideDishwasherRack/20250820, horizon 450
• TurnOffStove: v1.0/target/atomic/TurnOffStove/20250812, horizon 750
• TurnOnElectricKettle: v1.0/target/atomic/TurnOnElectricKettle/20250817, horizon 450
• TurnOnMicrowave: v1.0/target/atomic/TurnOnMicrowave/20250813, horizon 450
• TurnOnSinkFaucet: v1.0/target/atomic/TurnOnSinkFaucet/20250812, horizon 600

V1 outputs

For each episode, export:

RGB: side_right, side_left, wrist
Segmentation/masks: side_right, side_left, wrist
Robot state: T x 16
Action: T x 12
Reward/done/success
Simulator state: qpos/qvel, body poses, contacts
Graph: static nodes/prior edges + per-frame state edges + event labels + tensors

Depth is not exported in v1.

Download command

RoboCasa downloader supports:

python -m robocasa.scripts.download_datasets   --split target   --source human   --tasks <task names>

For the 18 target Atomic-Seen tasks, pass the task list from docs/TARGET_ATOMIC_SEEN_TASKS.md.

Important: the downloader prompts for confirmation. Do not pipe automatic yes in shared/safety-managed environments. Confirm manually after checking disk.

Current local inspection found about 562G free under /home/chris on 2026-07-02, but actual download size was not measured because automatic confirmation to the downloader was blocked by the safety gate. Use a manual dry run or inspect Box links before full download.

Replay/extraction loop

For each raw HDF5 episode:

1. Load states, actions, model_file, and ep_meta.
2. Create RoboCasa env from dataset metadata.
3. For each timestep t:
   • set simulator state to states[t];
   • call sim.forward();
   • render RGB for:
     • robot0_agentview_right -> side_right,
     • robot0_agentview_left -> side_left,
     • robot0_eye_in_hand -> wrist;
   • render MuJoCo segmentation for the same cameras;
   • map segmentation geom IDs to body IDs and graph node IDs;
   • read sim.data.qpos, qvel, xpos, xquat, contacts;
   • read/reconstruct robot state and action;
   • assemble per-frame graph record.
4. After episode, write graph tensors and event labels.
5. Run sanity checks before accepting episode.

Graph inventory construction

Inventory is frozen per episode:

object nodes: task objects + distractors
surface nodes: counters, sink surfaces, stove top, etc.
receptacle nodes: cabinets, drawers, fridge, sink basin, toaster oven, etc.
fixture nodes: appliances/fixtures involved in task
articulated_part nodes: doors, drawers, lids, racks, knobs/switches where relevant
handle/control nodes: handles, knobs, faucet handle, buttons where visible/controllable
optional robot node: off by default

Use deterministic node_grouping_<task>.yaml; do not let language decide which nodes exist.

Contact filtering

Filter raw MuJoCo contacts by:

• geom-to-node mappability;
• dropping fixture-fixture static contacts;
• aggregating multiple geom contacts into one node pair;
• recording count/min distance;
• keeping robot-object contacts separately from object-surface support.

Segmentation output

Each segmentation file should map node IDs to masks:

seg/side_right/frame_000123.npz
  node_ids: string array
  masks_rle or masks_bool packed
  geom_ids_by_node
  visible flags

Acceptance gates

An episode is accepted only if:

• RGB, segmentation, state, action, and graph frame counts match exactly.
• Every visible mask maps to a known node or documented ignored geom class.
• rel_state contains no prior or goal channels.
• rel_prior contains no instruction-specific target edges.
• State/action shapes are (T, 16) and (T, 12).
• Required camera files exist for side_right, side_left, wrist.
• Per-task event expectations are roughly satisfied, or the episode is quarantined with reason.