7.36k episodes · 20 fps · 3 cameras · 256×256 h264
Pretraining (Human) — atomic
Human teleoperation data for 65 atomic single-skill tasks (~100 demos/task). Part of RoboCasa365's 482-hour pretraining-human dataset.
Part of the RoboCasa365 collection. Flat LeRobot v3.0 mirror of RoboCasa365 — standard layout, drop-in loadable.
Stats
- Episodes: 7,356
- Frames: 1,495,313 (20 fps → 21 h)
- Tasks: 617 (natural-language phrasings; underlying RoboCasa task classes: 65)
- Cameras: 3 × 256×256 h264 video (
robot0_agentview_left/_right/_eye_in_hand) - Robot: PandaOmron (Panda 7-DoF arm + Omron mobile base + torso lift)
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("ember-lab-berkeley/robocasa365-pretrain-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_modeconvention:-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.
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