action list | observation.state list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | task large_string | global_state list |
|---|---|---|---|---|---|---|---|---|
[
0,
-0.4703180491924286,
0.02406955324113369,
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1,
0,
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1.4797618389129639,
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0.014999999664723873,
0.014999999664723873
] | 0 | 0 | 0 | 0 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0,
0,
0
] |
[
0,
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1,
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] | [
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1.476192831993103,
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0.03707972541451454,
0.037079501897096634
] | 0.1 | 1 | 0 | 1 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
-0.00003633700544014573,
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] |
[
0,
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1,
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] | [
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1.461889624595642,
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0.04526835307478905
] | 0.2 | 2 | 0 | 2 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
-0.00017246825154870749,
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] |
[
0,
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1,
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] | [
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1.4339021444320679,
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] | 0.3 | 3 | 0 | 3 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
0,
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1,
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] | [
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] | 0.4 | 4 | 0 | 4 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | [
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] | 0.5 | 5 | 0 | 5 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | [
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] | 0.6 | 6 | 0 | 6 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
-0.0012662651715800166,
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] |
[
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1,
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] | [
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1.1788859367370605,
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0.04997069388628006,
0.04996703565120697
] | 0.7 | 7 | 0 | 7 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
-0.0015700333751738071,
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] |
[
0,
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1,
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] | [
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1.082093358039856,
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] | 0.8 | 8 | 0 | 8 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
-0.0018556159920990467,
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] |
[
0,
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1,
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] | [
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] | 0.9 | 9 | 0 | 9 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
-0.0021045939065515995,
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] |
[
0,
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1,
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] | 1 | 10 | 0 | 10 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
0,
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1,
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] | [
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] | 1.1 | 11 | 0 | 11 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 1.2 | 12 | 0 | 12 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 1.3 | 13 | 0 | 13 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 1.4 | 14 | 0 | 14 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 1.5 | 15 | 0 | 15 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 1.6 | 16 | 0 | 16 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 1.7 | 17 | 0 | 17 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 1.8 | 18 | 0 | 18 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 1.9 | 19 | 0 | 19 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 2 | 20 | 0 | 20 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 2.1 | 21 | 0 | 21 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 2.2 | 22 | 0 | 22 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.001491840579546988,
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] |
[
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[
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[
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[
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[
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[
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[
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] | 2.9 | 29 | 0 | 29 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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[
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] | 3.1 | 31 | 0 | 31 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 3.2 | 32 | 0 | 32 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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[
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] | 3.4 | 34 | 0 | 34 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 3.5 | 35 | 0 | 35 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 3.6 | 36 | 0 | 36 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 3.7 | 37 | 0 | 37 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 3.8 | 38 | 0 | 38 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 3.9 | 39 | 0 | 39 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 4 | 40 | 0 | 40 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 4.1 | 41 | 0 | 41 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 4.2 | 42 | 0 | 42 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 4.3 | 43 | 0 | 43 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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0.049998462200164795
] | 4.4 | 44 | 0 | 44 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.006104098167270422,
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] |
[
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] | 4.5 | 45 | 0 | 45 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.013914933428168297,
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] |
[
0.0003186748072039336,
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] | 4.6 | 46 | 0 | 46 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.02279999665915966,
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] |
[
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] | 4.7 | 47 | 0 | 47 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.03215585649013519,
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] |
[
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] | 4.8 | 48 | 0 | 48 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.04171805456280708,
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] |
[
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] | 4.9 | 49 | 0 | 49 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.05137070640921593,
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] |
[
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0.061063002794981,
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] |
[
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] | 5.1 | 51 | 0 | 51 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.07077264040708542,
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] |
[
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] | 5.2 | 52 | 0 | 52 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.08048991113901138,
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[
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] | 5.3 | 53 | 0 | 53 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 5.4 | 54 | 0 | 54 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 5.5 | 55 | 0 | 55 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 5.6 | 56 | 0 | 56 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 5.7 | 57 | 0 | 57 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 5.8 | 58 | 0 | 58 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 5.9 | 59 | 0 | 59 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 6 | 60 | 0 | 60 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 6.1 | 61 | 0 | 61 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 6.2 | 62 | 0 | 62 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 6.3 | 63 | 0 | 63 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 6.4 | 64 | 0 | 64 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 6.5 | 65 | 0 | 65 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 6.6 | 66 | 0 | 66 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.2166096419095993,
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] |
[
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] | 6.7 | 67 | 0 | 67 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.22633279860019684,
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] |
[
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] | 6.8 | 68 | 0 | 68 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.23605595529079437,
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] |
[
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] | 6.9 | 69 | 0 | 69 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.2457791119813919,
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] |
[
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0.25550228357315063,
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] |
[
0.00031427404610440135,
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] | 7.1 | 71 | 0 | 71 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.2652255892753601,
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] |
[
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] | 7.2 | 72 | 0 | 72 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
0.2749488949775696,
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[
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] | 7.3 | 73 | 0 | 73 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 7.4 | 74 | 0 | 74 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 7.5 | 75 | 0 | 75 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 7.6 | 76 | 0 | 76 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 7.7 | 77 | 0 | 77 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 7.8 | 78 | 0 | 78 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 7.9 | 79 | 0 | 79 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 8 | 80 | 0 | 80 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 8.1 | 81 | 0 | 81 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 8.2 | 82 | 0 | 82 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 8.3 | 83 | 0 | 83 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 8.4 | 84 | 0 | 84 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 8.5 | 85 | 0 | 85 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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] |
[
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] | 8.6 | 86 | 0 | 86 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] | 8.7 | 87 | 0 | 87 | 0 | Move the cup from the counter onto the tray, then return it to its original position on the counter. | [
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[
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] |
End of preview. Expand in Data Studio
MyRoboCasa — corrected 10-Hz LeRobot demonstrations
Two independent LeRobot v3.0 datasets, generated with the project-owned ds_fetch robot, pd_joint_pos, CPU physics and assisted grasp. Do not treat the repository root as one merged LeRobot dataset.
| Folder | Task | Episodes | Frames | RGB videos | Strict action replay |
|---|---|---|---|---|---|
takeitback/ |
Move a cup to a tray and return it to its original counter position | 1000 | 553533 | 3000 | 100/100 |
veggie/ |
Remember the vegetable shown on the fridge and place the matching vegetable inside the pot (called a plate in the instruction) | 1000 | 929958 | 3000 | 98/100 |
Each task also provides 100 planner-verified validation seeds, not validation trajectories. They are disjoint from that task's training seeds. Seeds may repeat across tasks; identify an episode by (task, episode_seed).
Data contract and resampling
- Source simulation control/recording: 20 Hz; export: 10 Hz; physics substeps: 100 Hz.
- 13D actions; 12D
observation.state; separate 3Dglobal_statefor debugging, not standard policy proprioception. - Cameras:
fetch_hand128×128;left_base_camera_linkandright_base_camera_link256×256. - Observations, timestamps, and position/gripper action components0–10 use source indices0,2,4,... .
- Only base forward and angular velocity components11,12 are averaged over each consecutive pair of executed20-Hz source actions. A final unpaired source action is retained unchanged. The base velocity normalization is symmetric affine, so the same averaging applies in normalized and physical velocity units.
- This is an explicitly derived effective10-Hz action representation, not a claim that every exported velocity was issued verbatim as one source20-Hz command. Position actions are not averaged. Global and per-episode action statistics were recomputed.
- Videos, observations, seeds and episode membership were unchanged by velocity correction. Native-resolution H.264 videos were quality-checked against source RGB with mean absolute error≤2/255. This is not a lossless encoding claim.
Replay evidence and limitations
For each task, the selection was fixed before replay: the original20 pilot episodes plus80 uniformly sampled remaining episodes. Each exported action from the final corrected Parquet was applied once per10-Hz environment step after a fresh same-seed reset, with100-Hz physics, matching backend and assisted grasp. No saved simulation state was restored. No replay failures were filtered from the selection or dataset.
- TakeItBack:20/20 pilot and100/100 expanded replay.
- Veggie:20/20 pilot and98/100 expanded replay, zero execution errors.
- Veggie seeds20258 and21552 place and release the correct vegetable inside the pot, but fail the angular-static criterion on the last recorded frame:0.802 and0.539rad/s versus a0.5rad/s threshold. Both succeeded earlier; an additional0.1s diagnostic hold also produced success. Those extra actions were not added to the dataset. The strict result remains98/100.
The original literal-stride velocity export failed veggie replay0/20. Reports for that superseded representation are preserved under historical_reports/; they are not the corrected dataset's replay score. See action_replay_validation.json, final_integrity_audit.json, resampling_provenance.json, and veggie's replay_failure_diagnosis.json.
Passing these checks is not a claim of full DATASET_CHECKLIST.md compliance. Planner-related exceptions remain, including nonbinary gripper commands and limited head activity; exhaustive human all-camera review was not performed. Assisted grasp uses simulator constraints and should be considered when assessing realism and sim-to-real transfer.
Loading with LeRobot
Download a task folder, then supply that folder as the local dataset root:
from pathlib import Path
from huggingface_hub import snapshot_download
from lerobot.datasets.lerobot_dataset import LeRobotDataset
task = "takeitback" # or "veggie"
snapshot = snapshot_download(
"jezv/MyRoboCasa", repo_type="dataset", allow_patterns=[f"{task}/**"]
)
dataset = LeRobotDataset(
"jezv/MyRoboCasa", root=Path(snapshot) / task, video_backend="torchcodec"
)
sample = dataset[0]
Validated with LeRobot0.4.0, PyTorch2.7.1, torchcodec0.3.0 (first and last samples, all three cameras). Hugging Face Parquet configurations expose vector rows; use LeRobot for video observations. Environment source/runtime is required for action replay; downloading the data alone does not install it.
Provenance
dataset_manifest.json lists public file sizes and SHA256 digests. Data/video bytes are identical to the verified corrected exports. Deployment-specific filesystem paths in JSON/Markdown metadata were redacted, and the internal replay-path mapping was omitted. Historical provenance and verification outcomes were otherwise retained. No new blanket license grant is asserted by this dataset card; upstream asset/software licenses must be respected.
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