---
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)