count int64 5.9k 37.1k | feature_dim int64 2.05k 2.05k | dtype stringclasses 1
value | finite bool 1
class | mean listlengths 2.05k 2.05k | std listlengths 2.05k 2.05k | raw_zero_std_dimensions int64 0 0 | raw_norm dict | standardized_mean_abs_max float64 0 0 | standardized_std_abs_error_max float64 0 0 | task stringlengths 10 21 | split stringclasses 1
value | normalization_scope stringlengths 74 85 | cross_task_statistics_used bool 1
class | libero_statistics_used bool 1
class | validity_rule dict | teacher stringclasses 1
value | robotwin_statistics_used bool 1
class | dataset_revision stringclasses 1
value |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
19,082 | 2,048 | float32 | true | [
1.2467316319538488,
0.18537047610252108,
0.9087900466521454,
-1.1311854998487347,
0.7872784447365878,
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-0.7532727944938367,
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... | [
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0.37044285631288176,
0.3360... | 0 | {
"mean": 73.9695895482044,
"std": 12.983086047553266,
"min": 43.929378075878525,
"max": 110.10612373420891
} | 0 | 0 | CloseDoubleDoor | train | CloseDoubleDoor RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {
"geometry": "at least one confirmed current-stage relevant mask is non-empty",
"motion": "current robot0_agentview_left relevant mask is non-empty and t+50 remains in the same episode"
} | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
9,473 | 2,048 | float32 | true | [
0.8423682528108334,
-0.3412972808504027,
0.9525505578292658,
0.9676087469327889,
0.13872435033134184,
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... | [
0.35099121948104856,
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0.41001586626556524,
0.40707080039179017,
... | 0 | {
"mean": 82.17332483656239,
"std": 11.092816161598964,
"min": 56.35826846716025,
"max": 114.79650502830977
} | 0 | 0 | CloseDrawer | train | CloseDrawer RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {
"geometry": "at least one confirmed current-stage relevant mask is non-empty",
"motion": "current robot0_agentview_left relevant mask is non-empty and t+50 remains in the same episode"
} | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
12,478 | 2,048 | float32 | true | [1.1498693398136608,-0.3716376657626236,0.6686206146589548,-1.1942984224929718,0.7049406101403369,0.(...TRUNCATED) | [0.3526229316930717,0.4211271112924712,0.3243295256989641,0.7738381366614411,0.34340254449895713,0.2(...TRUNCATED) | 0 | {
"mean": 74.96674628284585,
"std": 11.063782876417315,
"min": 46.84048529608156,
"max": 108.53330061833152
} | 0 | 0 | CloseSingleDoor | train | CloseSingleDoor RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
5,920 | 2,048 | float32 | true | [0.0822192009016184,-0.03734490691604765,1.5866602321583274,0.13967937152663187,0.3294072865081624,0(...TRUNCATED) | [0.43789127951692774,0.35575772337984474,0.3055018770730243,0.5612044066718641,0.42306036711894707,0(...TRUNCATED) | 0 | {
"mean": 95.95356138526768,
"std": 10.835169794889506,
"min": 52.18311482516948,
"max": 124.30237534524248
} | 0 | 0 | CoffeePressButton | train | CoffeePressButton RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
16,000 | 2,048 | float32 | true | [0.35412445911530266,-0.07775181201428108,1.3088469416145236,0.7100514023976742,0.22381094696661466,(...TRUNCATED) | [0.262899317505225,0.28823757340445705,0.22387209418078854,0.6849624323517213,0.41169561544589434,0.(...TRUNCATED) | 0 | {
"mean": 77.1135703274837,
"std": 10.43244929985907,
"min": 53.1764244792871,
"max": 115.96094226601058
} | 0 | 0 | CoffeeServeMug | train | CoffeeServeMug RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
13,935 | 2,048 | float32 | true | [0.3326984486416557,-0.4454457784912818,1.1289450690346083,1.0417565447694526,0.3038979395176676,0.7(...TRUNCATED) | [0.3009292004675941,0.3026648384735802,0.2896062108533785,0.5889510625659979,0.4695379359464078,0.38(...TRUNCATED) | 0 | {
"mean": 81.64057581146886,
"std": 13.433726556438288,
"min": 50.1892814044341,
"max": 119.56665435660825
} | 0 | 0 | CoffeeSetupMug | train | CoffeeSetupMug RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
37,051 | 2,048 | float32 | true | [1.2445286672283047,0.3606162411368389,0.9430815145309693,-1.5043516563503678,0.69525078734177,-0.01(...TRUNCATED) | [0.35972811716223946,0.5191136481237723,0.3422082386492532,0.7438089543272085,0.3373127982759246,0.2(...TRUNCATED) | 0 | {
"mean": 75.93098946258837,
"std": 10.906825137054593,
"min": 42.74257614465121,
"max": 117.59658706012817
} | 0 | 0 | OpenDoubleDoor | train | OpenDoubleDoor RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
10,471 | 2,048 | float32 | true | [0.6334038613963957,-0.3944531213573854,1.0573296139477295,0.888788712263102,0.10266559225042665,0.4(...TRUNCATED) | [0.3681732076666327,0.4269952770521029,0.23211477273810463,0.6209954688242322,0.44455947802766843,0.(...TRUNCATED) | 0 | {
"mean": 82.47529922735067,
"std": 13.56531490569749,
"min": 56.926147607239336,
"max": 118.81181493988908
} | 0 | 0 | OpenDrawer | train | OpenDrawer RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
13,921 | 2,048 | float32 | true | [1.1079270294339276,0.2561474260126343,0.9322548995648006,-1.5830516792242673,0.7235657152239964,-0.(...TRUNCATED) | [0.3368674559713009,0.4780483750149446,0.31658632081742294,0.7154453622859271,0.2989420906678279,0.2(...TRUNCATED) | 0 | {
"mean": 77.6877572567015,
"std": 11.44891433843554,
"min": 49.27591491238048,
"max": 110.84589205614172
} | 0 | 0 | OpenSingleDoor | train | OpenSingleDoor RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
15,923 | 2,048 | float32 | true | [0.585598892595747,0.009806344282063447,1.1867617438309555,0.07273811490153761,0.4085056196963614,0.(...TRUNCATED) | [0.4013705465635433,0.38552366543873956,0.25371324241366927,1.1196790235564065,0.48915848969181447,0(...TRUNCATED) | 0 | {"mean":80.29797503719986,"std":12.448669733215587,"min":50.839188945290346,"max":115.51243701392447(...TRUNCATED) | 0 | 0 | PnPCabToCounter | train | PnPCabToCounter RoboCasa Atomic-24 source_roles=base50 valid train targets only | false | false | {"geometry":"at least one confirmed current-stage relevant mask is non-empty","motion":"current robo(...TRUNCATED) | frozen facebook/VGGT-1B aggregator final layer index 23 | false | 7236e704a04ebe477cc06d0a06ad540cd968fa5d |
End of preview. Expand in Data Studio
RoboCasa Atomic-24 Batch 1 Cache
Final Geometry and Semantic cache artifacts for the first 50 (base50) episodes
of every RoboCasa Atomic-24 task.
Release summary
- Tasks: 24
- Episodes per task: 50
- Total policy frames: 332,859
- Geometry: 24/24 PASS, float32, 2,048 dimensions, zero NaN/Inf
- Semantic: 24/24 PASS
- Dataset revision:
7236e704a04ebe477cc06d0a06ad540cd968fa5d - Cache tools commit:
e61d47c97bb81ed37c5fc7c72454d0144fd0f740
The source RGB/mask HDF5 payload, Motion cache, worker intermediates, and runtime logs are not included.
Layout
Each task contains:
TASK/
source/
semantic/
geometry/
final/
report.json
report.original.json
vggt_teacher_verification.json
Published semantic/index.parquet and geometry/final/index.parquet use paths
relative to the repository root. Run consumers with the downloaded dataset root
as the working directory. The *.original.parquet and report.original.json
files preserve the exact host-generated metadata for provenance.
Source manifests retain references to the separately distributed source dataset:
Zhiyuan17/robocasa24-atomic-success100-256 at the revision above.
Integrity check
From the downloaded repository root:
python verify_release.py
The verifier checks every published payload against RELEASE_MANIFEST.json.
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