mengqz9/deva_robocasa

DeVA — RoboCasa (processed)

Processed RoboCasa data for DeVA, a robot video-world model with affordance + depth physical guidance. Derived from robocasa/robocasa — please cite the original benchmark as well.

Episodes	1,199
Frames	316,995
Video	448 × 448, 16 fps (3 views on a 2×2 grid)
Views	agentview_left, agentview_right, eye_in_hand
Action dim	7 (absolute)
Proprio state	not included
Size	56 GB

Download

hf download mengqz9/deva_robocasa --repo-type dataset --local-dir datasets/deva_robocasa

Layout

deva_robocasa/
├── dataset_info.json   # view names, tile grid, affordance/depth encodings
├── videos/             # <episode>.mp4   tiled multi-view RGB
├── metas/              # <episode>.txt   language instruction
├── t5_xxl/             # <episode>.pickle  precomputed T5-XXL embedding [n_tok, 1024]
├── action.json         # {episode: [[a_0..a_6], ...]}  len == video frames
├── data_mapping.json   # episode -> source task
├── norm_stats.json     # action normalization statistics
├── affordance/         # <episode>.npz   physical guidance (optional at train time)
└── depth/              # <episode>.npz   physical guidance (optional at train time)

videos/ tiles the views on the grid given by dataset_info.json::tile — the bottom-right cell is empty:

[[agentview_left, agentview_right],
 [eye_in_hand,    null           ]]

Affordance / depth .npz

Both are keyed by canonical view name (never by tile position), one array per view:

	affordance	depth
key	<view>	<view>
dtype	float16	float16
shape	[T, 224, 224]	[T, 224, 224]
range	raw, un-normalized	[0, 1]
note	loader resizes to 128×128, then per-frame max-normalizes	per-view per-clip min-max applied at export

T equals the episode's video frame count, so aux arrays index by absolute frame. The validity mask is derived from the tile grid (null cells are invalid) and is not stored.

Depth source — DepthAnything (ViT-L) disparity, converted as depth = 1 / disparity; higher value = farther. No percentile clip is applied: the range is set by the farthest pixel, so agentview content occupies roughly the lower half of [0, 1] and never saturates.

Affordance source — simulator oracle contacts rendered as Gaussian heatmaps.

Citation

If you use this data, please cite DeVA and RoboCasa:

@inproceedings{robocasa2024,
  title     = {RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots},
  author    = {Nasiriany, Soroush and Maddukuri, Abhiram and Zhang, Lance and
               Parikh, Adeet and Lo, Aaron and Joshi, Abhishek and
               Mandlekar, Ajay and Zhu, Yuke},
  booktitle = {Robotics: Science and Systems (RSS)},
  year      = {2024}
}