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observation.state list | action list | timestamp float64 | next.reward float64 | next.done bool | task_index int64 | annotation.human.fine_action int64 | annotation.human.coarse_action int64 | episode_index int64 | index int64 | state.right_eef_pos_world list | state.right_eef_quat_world list | state.right_eef_euler_world list | state.right_eef_rot6d_world list | state.left_eef_pos_world list | state.left_eef_quat_world list | state.left_eef_euler_world list | state.left_eef_rot6d_world list | state.camera_pos_world list | state.camera_quat_world list | state.camera_euler_world list | state.camera_rot6d_world list | state.base_pos_world list | state.base_quat_world list | state.base_euler_world list | state.base_rot6d_world list | state.right_eef_pos_base list | state.right_eef_quat_base list | state.right_eef_euler_base list | state.right_eef_rot6d_base list | state.left_eef_pos_base list | state.left_eef_quat_base list | state.left_eef_euler_base list | state.left_eef_rot6d_base list | state.right_eef_pos_cam list | state.right_eef_quat_cam list | state.right_eef_euler_cam list | state.right_eef_rot6d_cam list | state.left_eef_pos_cam list | state.left_eef_quat_cam list | state.left_eef_euler_cam list | state.left_eef_rot6d_cam list | action.right_eef_pos_world list | action.right_eef_quat_world list | action.right_eef_euler_world list | action.right_eef_rot6d_world list | action.left_eef_pos_world list | action.left_eef_quat_world list | action.left_eef_euler_world list | action.left_eef_rot6d_world list | action.camera_pos_world list | action.camera_quat_world list | action.camera_euler_world list | action.camera_rot6d_world list | action.base_pos_world list | action.base_quat_world list | action.base_euler_world list | action.base_rot6d_world list | action.right_eef_pos_base list | action.right_eef_quat_base list | action.right_eef_euler_base list | action.right_eef_rot6d_base list | action.left_eef_pos_base list | action.left_eef_quat_base list | action.left_eef_euler_base list | action.left_eef_rot6d_base list | action.right_eef_pos_cam list | action.right_eef_quat_cam list | action.right_eef_euler_cam list | action.right_eef_rot6d_cam list | action.left_eef_pos_cam list | action.left_eef_quat_cam list | action.left_eef_euler_cam list | action.left_eef_rot6d_cam list |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview.
RoboCasa Camera-Space EEF (ACE-Ego-0)
LeRobot v2.0 demonstrations for the 24 GR1 RoboCasa TableTop tasks used by ACE-Ego-0 SFT. Actions and states are stored in the observation camera frame (end-effector position + rot6d, plus gripper and waist).
This dataset does not include unused conversion caches (experiments/) or
legacy per-dataset index files. Training reads only the files listed below and
the shipped merged q99 statistics. The training code never recomputes norms.
Layout
<task>/
data/chunk-*/episode_*.parquet
videos/chunk-*/observation.images.ego_view/episode_*.mp4
meta/info.json
meta/modality.json
meta/episodes.jsonl
meta/stats_gr00t.json
meta/stats_gr00t_delta_q99_first_state.json
norm/absolute/{norm_manifest.json,merged_stats.json}
norm/delta/{norm_manifest.json,merged_stats.json}
Task directory names match configs/robocasa24/datasets.yaml in ACE-Ego-0, for
example gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000.
Download
huggingface-cli download ACERobotics/Robocasa_Camera_Space_Eef \
--repo-type dataset \
--local-dir data/robocasa24
Point the public recipes at this folder:
python scripts/train.py \
--config configs/robocasa24/absolute_sft.yaml \
--data-root data/robocasa24 \
--norm-manifest data/robocasa24/norm/absolute/norm_manifest.json
Delta SFT uses norm/delta/norm_manifest.json and the delta recipe.
Notes
- 24 tasks, about 5.82M frames, ego-view video at the source resolution.
- Absolute and Delta SFT share the same trajectories; only the shipped merged statistics and the delta transform differ.
- Per-dataset
stats_gr00t*.jsonfiles are completeness artifacts. Runtime q99 comes fromnorm/{absolute,delta}/merged_stats.json.
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