code stringlengths 1.95k 38.4k | code_char_count int64 1.95k 38.4k | code_num_lines int64 21 412 | code_num_nonblank_lines int64 16 402 | compressed_candidate_available bool 2
classes | dataset_type stringclasses 1
value | episode_index int64 0 0 | final_code_state stringclasses 2
values | initial_env_config_json stringlengths 5.61k 11.6k | initial_scene_json stringlengths 7.47k 17.2k | is_source_compressed_policy_file bool 2
classes | motion_primitive_count int64 2 182 | pretrain_task_id int64 0 64 | retained_waypoint_count int64 2 182 | sim_aggregate_success bool 2
classes | sim_saved_summary_success bool 2
classes | sim_success bool 2
classes | sim_success_source stringclasses 1
value | sim_validation_matches_aggregate bool 2
classes | sim_validation_success bool 2
classes | source_split stringclasses 1
value | task_description stringlengths 19 117 | task_name stringlengths 8 29 | video_available bool 1
class | video_bytes int64 156k 1.24M | video_relpath stringlengths 33 54 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints... | 2,615 | 24 | 19 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 5 | 0 | 5 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Increase the toaster oven temperature. | AdjustToasterOvenTemperature | true | 408,410 | videos/compressed/00_AdjustToasterOvenTemperature.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_coun... | 2,216 | 22 | 17 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 3 | 1 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on. | AdjustWaterTemperature | true | 414,760 | videos/compressed/01_AdjustWaterTemperature.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 2,... | 4,128 | 40 | 35 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | {"env_kwargs":{"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolation":null,"kp":150,... | true | 10 | 2 | 10 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish. | CheesyBread | true | 376,205 | videos/compressed/02_CheesyBread.mp4 |
# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory
# Task: CloseBlenderLid
# Episode: episode_000000
from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait
SCENE_ARTIFACT = '/workspace/action2code/outputs/artifact... | 38,438 | 412 | 402 | false | compressed | 0 | fallback_current_policy | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | false | 182 | 3 | 182 | true | null | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the lid blender by securely placing the lid on top. | CloseBlenderLid | true | 610,250 | videos/compressed/03_CloseBlenderLid.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}
from primi... | 2,595 | 25 | 20 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 6 | 4 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the cabinet door. | CloseCabinet | true | 478,928 | videos/compressed/04_CloseCabinet.mp4 |
# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CloseDishwasher/seed_195/episode_000000/refinement/20260403/CloseDishwasher/iter_004/candidate.py
# Compression note: target_retained_waypoints=14; actual_retained_waypoints=14... | 4,344 | 38 | 33 | true | compressed | 0 | accepted_candidate | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | {"env_kwargs":{"clutter_mode":0,"controller_configs":{"body_parts":{"base":{"interpolation":"null","type":"JOINT_VELOCITY"},"right":{"damping_ratio":1,"damping_ratio_limits":[0,10],"gripper":{"type":"GRIP"},"impedance_mode":"fixed","input_max":1,"input_min":-1,"input_ref_frame":"base","input_type":"delta","interpolatio... | true | 14 | 5 | 14 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the dishwasher door. | CloseDishwasher | true | 302,135 | videos/compressed/05_CloseDishwasher.mp4 |
"# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/o(...TRUNCATED) | 2,584 | 25 | 20 | true | compressed | 0 | accepted_candidate | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | true | 6 | 6 | 6 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the right drawer. | CloseDrawer | true | 210,470 | videos/compressed/06_CloseDrawer.mp4 |
"# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/o(...TRUNCATED) | 2,549 | 24 | 19 | true | compressed | 0 | accepted_candidate | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | true | 5 | 7 | 5 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the lid of the electric kettle. | CloseElectricKettleLid | true | 247,672 | videos/compressed/07_CloseElectricKettleLid.mp4 |
"# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/o(...TRUNCATED) | 5,660 | 44 | 39 | true | compressed | 0 | accepted_candidate | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | true | 19 | 8 | 19 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Close the fridge doors. | CloseFridge | true | 676,973 | videos/compressed/08_CloseFridge.mp4 |
"# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/o(...TRUNCATED) | 2,160 | 22 | 17 | true | compressed | 0 | accepted_candidate | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolati(...TRUNCATED) | true | 3 | 9 | 3 | true | true | true | whole_body_ik_rerun | true | true | robocasa_pretrain_atomic_65 | Fully close the fridge drawer. | CloseFridgeDrawer | true | 302,183 | videos/compressed/09_CloseFridgeDrawer.mp4 |
End of preview. Expand in Data Studio
RoboCasa Pretrain65 Action2Code: Raw Extracted and Compressed
Self-contained local dataset for the 65 RoboCasa pretrain atomic tasks. Each task has two rows:
raw_extracted for the pre-compression open-loop-joint code and compressed for the final source-compressed code.
Videos are copied into the dataset under videos/<dataset_type>/ and use the latest whole-body-IK validation rerun.
Common Fields
dataset_type:raw_extractedorcompressed.pretrain_task_id,task_name,task_description.initial_env_config_json,initial_scene_json.code,code_num_lines,code_num_nonblank_lines,code_char_count.motion_primitive_count,retained_waypoint_count.sim_success: latest whole-body-IK validation success label when available.sim_aggregate_success: original aggregate success label for this dataset type.sim_saved_summary_success: saved summary success label when available.sim_validation_success: latest validation rerun success label.video_relpath,video_available,video_bytes.
Summary
{
"row_count": 130,
"types": {
"compressed": {
"fail_count": 7,
"failing_tasks": [
"OpenFridgeDrawer",
"OpenToasterOvenDoor",
"PickPlaceCabinetToCounter",
"PickPlaceCounterToBlender",
"PickPlaceCounterToStandMixer",
"TurnOffStove",
"TurnOnBlender"
],
"max_code_char_count": 38438,
"max_code_num_lines": 412,
"mean_code_char_count": 4513.984615384616,
"mean_code_num_lines": 40.815384615384616,
"median_code_num_lines": 34,
"min_code_char_count": 1949,
"min_code_num_lines": 21,
"pass_count": 58,
"row_count": 65,
"video_count": 65
},
"raw_extracted": {
"fail_count": 16,
"failing_tasks": [
"CloseBlenderLid",
"CloseDishwasher",
"CloseOven",
"CloseToasterOvenDoor",
"CoffeeServeMug",
"MakeIcedCoffee",
"OpenFridge",
"OpenFridgeDrawer",
"OpenToasterOvenDoor",
"PickPlaceCabinetToCounter",
"PickPlaceCounterToBlender",
"PickPlaceCounterToDrawer",
"PickPlaceCounterToStandMixer",
"TurnOffStove",
"TurnOnBlender",
"TurnOnElectricKettle"
],
"max_code_char_count": 52371,
"max_code_num_lines": 423,
"mean_code_char_count": 22911.8,
"mean_code_num_lines": 245.46153846153845,
"median_code_num_lines": 236,
"min_code_char_count": 8845,
"min_code_num_lines": 88,
"pass_count": 49,
"row_count": 65,
"video_count": 65
}
}
}
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