Release RoboCasa-DC

.gitattributes

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README.md

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+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- robotics
+- cross-embodiment
+- imitation-learning
+- robocasa
+- lerobot
+- humanoid
+- franka
+pretty_name: RoboCasa-DC
+size_categories:
+- 1K<n<10K
+---
+
+# RoboCasa-DC
+
+RoboCasa-DC is a demo-conditioned extension of [RoboCasa](https://robocasa.ai) for
+benchmarking policies that are conditioned on a single demonstration video.
+It pairs RoboCasa's Panda-arm trajectories with newly collected **GR-1 humanoid**
+demonstrations, which serve as a simulated proxy for human demonstrations, across
+24 RoboCasa kitchen manipulation tasks.
+
+RoboCasa-DC was introduced in *SeeTraceAct: Visibility-Aware Latent Planning from
+Cross-Embodiment Demonstration Videos*.
+
+- Project: <https://jaehyeon-son.github.io/seetraceact/>
+- Paper: <https://arxiv.org/abs/2606.02745>
+- Code: <https://github.com/jaehyeon-son/SeeTraceAct>
+
+![RoboCasa-DC overview](assets/robocasa_dc.png)
+
+*Overview of RoboCasa-DC. For each of the 24 tasks, 100
+Panda-arm trajectories are paired with GR-1 humanoid demonstrations for training. For
+evaluation, each task has 50 pre-defined seeds, each with a GR-1 humanoid demonstration.*
+
+## Benchmark construction
+
+- **Training pairs.** For each task, 100 Panda-arm trajectories from RoboCasa are paired
+  with GR-1 humanoid demonstrations. Each demonstration was collected by restoring the
+  initial simulation state of its Panda-arm trajectory and teleoperating the humanoid in
+  the same scene with a Leap Motion controller.
+- **Evaluation seeds and demonstrations.** Each task has 50 pre-defined evaluation seeds,
+  each with an environment in `eval_envs/` and a GR-1 humanoid demonstration collected
+  from the same initial scene state.
+- **Demonstration camera view.** For each task, the GR-1 camera view that best captures
+  task execution was selected manually; it is the single camera listed in the task's
+  `meta/info.json`.
+
+## Contents
+
+| directory | contents | episodes |
+|---|---|---|
+| `panda_train/<Task>/` | Panda-arm trajectories from RoboCasa: actions, proprioceptive states, videos from two static cameras and one wrist camera, end-effector traces | 24 tasks x 100 = 2400 |
+| `gr1_train/<Task>/` | GR-1 humanoid demonstrations paired with `panda_train`: one camera video, state/action | 2369 |
+| `gr1_eval/<Task>/` | GR-1 humanoid demonstrations for the evaluation seeds: one camera video, state/action | 24 tasks x 50 = 1200 |
+| `eval_envs/<Task>/<seed>/` | Panda-arm simulation scene for each pre-defined evaluation seed | 24 tasks x 50 = 1200 |
+
+## Pairing rule (by episode index)
+
+Pairing is purely positional; there is no separate index file.
+
+- **Training:** `panda_train/<Task>/.../episode_XXXXXX` and
+  `gr1_train/<Task>/.../episode_XXXXXX` with the same task and the same 6-digit episode
+  index form one training pair.
+- **Evaluation:** seed directory `eval_envs/<Task>/<N>/` pairs with
+  `gr1_eval/<Task>/.../episode_{N:06d}`, which shares seed N's initial scene state. The
+  policy is conditioned on the GR-1 video of episode N and rolled out in the Panda-arm scene
+  of seed N. Each task has exactly 50 pre-defined seeds. The `gr1_eval` episode indices match the seed directories exactly.
+
+## File formats
+
+Episode files follow the GR00T / LeRobot v2 layout: one parquet and one mp4 per episode
+per camera, `data/chunk-000/episode_XXXXXX.parquet` and
+`videos/chunk-000/observation.images.<camera_key>/episode_XXXXXX.mp4`. All videos are
+20 fps; Panda videos are 128x128, GR-1 videos are 256x256. Frame `t` of the video matches
+row `t` of the data and trace parquet.
+
+### `panda_train/<Task>/`
+
+- `meta/modality.json` defines the named slices of the state and action vectors;
+  `meta/tasks.jsonl` maps `task_index` to the language instruction.
+- `data/chunk-000/episode_XXXXXX.parquet`, one row per timestep:
+
+  | column | type | description |
+  |---|---|---|
+  | `observation.state` | list<float32>[53] | joint pos / cos / sin / vel, eef pos + quat, gripper qpos / qvel, base pos + quat, base-to-eef pos + quat (slices in `meta/modality.json`) |
+  | `action` | list<float32>[12] | delta eef position (3), delta eef rotation as axis-angle (3), gripper (1), mobile base (3), torso (1), base mode (1) |
+  | `annotation.human.action.task_description` | int64 | index into `meta/tasks.jsonl` (language instruction) |
+  | `annotation.human.validity` | int64 | index into `meta/tasks.jsonl` |
+
+- `trace/episode_XXXXXX.parquet`: 2D end-effector traces, generated by projecting the
+  end-effector position into each of the two static camera views. Columns are a two-level
+  pandas MultiIndex (read with `pandas.read_parquet`):
+  `('eef_trace_robot0_agentview_left_pixel_rc', 'x' | 'y')` and
+  `('eef_trace_robot0_agentview_right_pixel_rc', 'x' | 'y')`, float32 image coordinates
+  normalized by image size. Values outside [0, 1] mean the end effector is off-screen in
+  that view.
+
+### `gr1_train/<Task>/` and `gr1_eval/<Task>/`
+
+- `meta/info.json` (paths, video shape, fps). `gr1_train` also has
+  `meta/camera_config.json`, the camera pose used to render the GR-1 videos.
+- `data/chunk-000/episode_XXXXXX.parquet`: same columns as Panda, with
+  `observation.state` of length 221 and `action` of length 24 (GR-1 humanoid), plus an
+  int64 column `observation.images.<camera_key>` holding the frame index into the mp4.
+  The GR-1 splits have no `meta/tasks.jsonl`, so their annotation columns carry no
+  language; the instruction for a training pair is the Panda episode's.
+
+### `eval_envs/<Task>/<seed>/`
+
+- `environment.xml`: MuJoCo model of the Panda kitchen scene.
+- `ep_meta.json`: RoboCasa episode metadata (layout / style ids, object and fixture
+  configs, language instruction, camera configs).
+- `initial_state.npz`: `states`, the flattened MuJoCo simulation state to reset to.
+
+## License
+
+RoboCasa-DC is released under the
+[Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/)
+license. It is derived from [RoboCasa](https://robocasa.ai), whose assets and datasets are
+also licensed under CC BY 4.0. The SeeTraceAct code is released separately on
+[GitHub](https://github.com/jaehyeon-son/SeeTraceAct).
+
+## Citation
+
+If you use RoboCasa-DC, please cite:
+
+```bibtex
+@inproceedings{son2026seetraceact,
+  title     = {SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos},
+  author    = {Son, Jaehyeon and Kim, Junhyun and Kam, Kyle and Coholich, Jeremiah and Kim, Seok Joon and Kim, Jinhoo and Kim, Chris Dongjoo and Cho, Jaemin and Fox, Dieter and Kira, Zsolt},
+  booktitle = {Conference on Robot Learning (CoRL)},
+  year      = {2026}
+}
+```

eval_envs/CloseDoubleDoor/0/ep_meta.json

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+{"layout_id": 6, "style_id": 9, "object_cfgs": [{"name": "door_obj", "obj_groups": "all", "graspable": true, "microwavable": null, "placement": {"fixture": "cab_2_right_group", "size": [0.3, 0.3], "pos": [null, -1.0]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "cake", "sweets", "food", "in_container"], "groups": ["all"], "cat": "cake", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/cake/cake_8/model.xml"}}, {"name": "distr_counter_1", "obj_groups": "all", "placement": {"fixture": "counter_1_right_group", "sample_region_kwargs": {"ref": "cab_2_right_group"}, "size": [1.0, 0.5], "pos": [null, -1.0], "offset": [0.0, 0.1]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "bagged_food", "packaged_food"], "groups": ["all"], "cat": "bagged_food", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_8/model.xml"}}, {"name": "distr_counter_2", "obj_groups": "all", "placement": {"fixture": "counter_1_right_group", "sample_region_kwargs": {"ref": "cab_2_right_group"}, "size": [1.0, 0.5], "pos": [null, -1.0], "offset": [0.0, 0.1]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "banana", "fruit", "food", "in_container", "food_set1", "group1"], "groups": ["all"], "cat": "banana", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/banana/banana_7/model.xml"}}], "fixtures": {"wall_room": {"cls": "Wall"}, "wall_backing_room": {"cls": "Wall"}, "wall_left_room": {"cls": "Wall"}, "wall_left_backing_room": {"cls": "Wall"}, "wall_right_room": {"cls": "Wall"}, "wall_right_backing_room": {"cls": "Wall"}, "floor_room": {"cls": "Floor"}, "floor_backing_room": {"cls": "Floor"}, "utensil_rack_room": {"cls": "WallAccessory"}, "light_switch_room": {"cls": "WallAccessory"}, "light_switch_2_room": {"cls": "WallAccessory"}, "outlet_room": {"cls": "WallAccessory"}, "outlet_2_room": {"cls": "WallAccessory"}, "outlet_3_room": {"cls": "WallAccessory"}, "counter_corner_main_group": {"cls": "Counter"}, "counter_1_main_group": {"cls": "Counter"}, "stovetop_main_group": {"cls": "Stovetop"}, "counter_main_main_group": {"cls": "Counter"}, "counter_corner_2_main_group": {"cls": "Counter"}, "cab_corner_main_group": {"cls": "Box"}, "cab_corner_2_main_group": {"cls": "Box"}, "cab_1_main_group": {"cls": "SingleCabinet"}, "window_group_main_group": {"cls": "FramedWindow"}, "hood_main_group": {"cls": "Hood"}, "shelves_main_group": {"cls": "OpenCabinet"}, "cab_main_main_group": {"cls": "SingleCabinet"}, "cab_corner_3_main_group": {"cls": "Box"}, "cab_corner_4_main_group": {"cls": "Box"}, "stack_1_main_group_base": {"cls": "Box"}, "stack_1_main_group_1": {"cls": "HingeCabinet"}, "stack_1_main_group_2": {"cls": "Drawer"}, "stack_1_main_group_3": {"cls": "Drawer"}, "stack_2_main_group_base": {"cls": "Box"}, "stack_2_main_group_1": {"cls": "HingeCabinet"}, "stack_2_main_group_2": {"cls": "Drawer"}, 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"bottom_left_group_1": {"cls": "Drawer"}, "bottom_left_group_2": {"cls": "Drawer"}, "oven_left_group": {"cls": "Oven"}, "oven_housing_left_group": {"cls": "HousingCabinet"}, "microwave_left_group": {"cls": "Microwave"}, "micro_housing_left_group": {"cls": "HousingCabinet"}, "top_left_group": {"cls": "HingeCabinet"}, "stack_1_left_group_base": {"cls": "Box"}, "stack_1_left_group_1": {"cls": "SingleCabinet"}, "stack_1_left_group_2": {"cls": "Drawer"}, "stack_2_left_group_base": {"cls": "Box"}, "stack_2_left_group_1": {"cls": "HingeCabinet"}, "stack_2_left_group_2": {"cls": "Drawer"}, "stack_2_left_group_3": {"cls": "Drawer"}, "stack_3_left_group_base": {"cls": "Box"}, "stack_3_left_group_1": {"cls": "Drawer"}, "stack_3_left_group_2": {"cls": "Drawer"}, "stack_3_left_group_3": {"cls": "Drawer"}, "stack_3_left_group_4": {"cls": "Drawer"}, "shelves_left_group": {"cls": "OpenCabinet"}, "cab_2_left_group": {"cls": "SingleCabinet"}, "counter_1_right_group": {"cls": "Counter"}, "counter_corner_right_group": {"cls": "Counter"}, "fridge_right_group": {"cls": "Fridge"}, "fridge_housing_right_group": {"cls": "HousingCabinet"}, "stack_1_right_group_base": {"cls": "Box"}, "stack_1_right_group_1": {"cls": "HingeCabinet"}, "stack_1_right_group_2": {"cls": "Drawer"}, "stack_1_right_group_3": {"cls": "Drawer"}, "stack_2_right_group_base": {"cls": "Box"}, "stack_2_right_group_1": {"cls": "SingleCabinet"}, "stack_2_right_group_2": {"cls": "Drawer"}, "stack_3_right_group_base": {"cls": "Box"}, "stack_3_right_group_1": {"cls": "Drawer"}, "stack_3_right_group_2": {"cls": "Drawer"}, "stack_3_right_group_3": {"cls": "Drawer"}, "stack_3_right_group_4": {"cls": "Drawer"}, "cab_1_right_group": {"cls": "HingeCabinet"}, "cab_2_right_group": {"cls": "HingeCabinet"}, "fridge_cab_right_group": {"cls": "HingeCabinet"}, "coffee_machine_right_group": {"cls": "CoffeeMachine"}, "toaster_right_group": {"cls": "Toaster"}}, "gen_textures": {}, "lang": "close the cabinet doors", "fixture_refs": {"door_fxtr": "cab_2_right_group"}, "cam_configs": {"robot0_agentview_center": {"pos": [-0.6, 0.0, 1.15], "quat": [0.636945903301239, 0.3325185477733612, -0.3199238181114197, -0.6175596117973328], "parent_body": "mobilebase0_support"}, "robot0_agentview_left": {"pos": [-0.5, 0.35, 1.05], "quat": [0.55623853, 0.29935253, -0.37678665, -0.6775092], "camera_attribs": {"fovy": "60"}, "parent_body": "mobilebase0_support"}, "robot0_agentview_right": {"pos": [-0.5, -0.35, 1.05], "quat": [0.6775091886520386, 0.3767866790294647, -0.2993525564670563, -0.55623859167099], "camera_attribs": {"fovy": "60"}, "parent_body": "mobilebase0_support"}, "robot0_frontview": {"pos": [-0.5, 0, 0.95], "quat": [0.6088936924934387, 0.3814677894115448, -0.3673907518386841, -0.5905545353889465], "camera_attribs": {"fovy": "60"}, "parent_body": "mobilebase0_support"}, "robot0_eye_in_hand": {"pos": [0.05, 0, 0], "quat": [0, 0.707107, 0.707107, 0], "parent_body": "robot0_right_hand"}}, "generative_textures": null}

eval_envs/CloseDoubleDoor/0/initial_state.npz

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eval_envs/CloseDoubleDoor/1/ep_meta.json

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+{"layout_id": 2, "style_id": 2, "object_cfgs": [{"name": "door_obj", "obj_groups": "all", "graspable": true, "microwavable": null, "placement": {"fixture": "cab_1_main_group", "size": [0.3, 0.3], "pos": [null, -1.0]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "mushroom", "vegetable", "food", "in_container"], "groups": ["all"], "cat": "mushroom", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_3/model.xml"}}, {"name": "distr_counter_1", "obj_groups": "all", "placement": {"fixture": "counter_main_main_group", "sample_region_kwargs": {"ref": "cab_1_main_group"}, "size": [1.0, 0.5], "pos": [null, -1.0], "offset": [0.0, 0.1]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "scissors", "tool"], "groups": ["all"], "cat": "scissors", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_8/model.xml"}}, {"name": "distr_counter_2", "obj_groups": "all", 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