continual-mg-im-k1000

RoboCasa multi-gripper image (mg_im) demonstration dataset, curated subset (K=1000 demos/task uniform, 2 camera views kept) used to train base policies for the CMU "continual" project (continual learning for robot manipulation, flow-matching/diffusion policies).

Downloaded from the public RoboCasa dataset release and subsampled per PI decision to fit disk constraints. Regenerable from the public RoboCasa release + these curation parameters if ever lost.

Provenance (from continual/experiments/cl0/RUNLOG.md, 2026-07-06 entries)

• Source: RoboCasa v0.2 (pinned 756598a), robosuite v1.5.0 (1a8701b9), robomimic robocasa fork (271a76c). Downloaded via RoboCasa's dataset download tool with --ds_types human_raw,human_im,mg_im.
• Full 15-task mg_im pool measured at 280.24GB (candidate pool) / 520.67GB (full15) — exceeded the 200GB storage gate on /grogu.
• PI decision (2026-07-06): subsample to K=1000 demos/task, uniform, keep 2 camera views, written to /grogu/user/soumojib/cl0/data/mg_im_k1000.
• Validated on CoffeePressButton: action dims [7:12] have zero range (register-3 issue resolved), compacted to ~4.17GB/1000 demos.
• Full 15-task data prep (job 3912420) completed 2026-07-07.
• Action space: 12-D (not the RoboCasa default 7-D).

Contents

15 HDF5 files, one per RoboCasa task: CloseDrawer, CloseSingleDoor, CoffeePressButton, CoffeeServeMug, OpenDoubleDoor, OpenDrawer, OpenSingleDoor, PnPCabToCounter, PnPCounterToCab, PnPCounterToMicrowave, PnPCounterToSink, PnPStoveToCounter, TurnOnMicrowave, TurnOnSinkFaucet, TurnOnStove.

Original location

/grogu/user/soumojib/cl0/data/mg_im_k1000 (CMU Grogu cluster, NFS)

Size

• Total: 145,732,927,721 bytes (~135.7 GiB)
• Files: 15 (no symlinks)