| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robocasa |
| - robocasa365 |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # Target (Human) — atomic-seen |
|
|
| Human teleoperation data for 18 atomic tasks (500 demos/task) recorded in 10 held-out target kitchens. All tasks are also represented in the pretraining datasets ('atomic-seen'). |
|
|
| Part of the [**RoboCasa365 collection**](https://huggingface.co/collections/ember-lab-berkeley/robocasa365). Flat LeRobot v3.0 mirror of [RoboCasa365](https://robocasa.ai) — standard layout, drop-in loadable. |
|
|
| ## Stats |
|
|
| - Episodes: **9,126** |
| - Frames: **2,231,347** (20 fps → 31 h) |
| - Tasks: **231** (natural-language phrasings; underlying RoboCasa task classes: 18) |
| - Cameras: 3 × 256×256 h264 video (`robot0_agentview_left` / `_right` / `_eye_in_hand`) |
| - Robot: PandaOmron (Panda 7-DoF arm + Omron mobile base + torso lift) |
|
|
| ## Loading |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| ds = LeRobotDataset("ember-lab-berkeley/robocasa365-target-atomic") |
| ``` |
|
|
| ## Feature schema (shared across all 6 robocasa365 repos) |
|
|
| - `observation.state`: float64[16] — `base_pos(3) + base_quat(4) + eef_pos_rel(3) + eef_quat_rel(4) + gripper_qpos(2)` |
| - `action`: float64[12] — `base_motion(4) + control_mode(1) + eef_delta_pos(3) + eef_delta_aa(3) + gripper(1)` |
| - `control_mode` convention: **`-1` = arm active** (eef delta + gripper drive), **`+1` = base active** (base_motion drives). Source of truth: `robosuite.controllers.composite.HybridMobileBase`. |
| - `observation.images.robot0_agentview_left` / `_right` / `_eye_in_hand`: video, 256×256×3 |
| |
| ## License |
| |
| MIT, inherited from [upstream RoboCasa365](https://github.com/robocasa/robocasa). |
| |
| ## Citation |
| |
| [RoboCasa365 paper (ICLR 2026)](https://robocasa.ai/assets/robocasa365_iclr26.pdf) |
| |
