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+success_only/kitchen_pnp/PnPCabToCounter/2024-04-24/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_pnp/PnPCounterToCab/2024-04-24/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_pnp/PnPCounterToMicrowave/2024-04-27/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_pnp/PnPCounterToSink/2024-04-25/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_pnp/PnPCounterToStove/2024-04-26/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_pnp/PnPMicrowaveToCounter/2024-04-26/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_pnp/PnPSinkToCounter/2024-04-26_2/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_pnp/PnPStoveToCounter/2024-05-01/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_sink/TurnOffSinkFaucet/2024-04-25/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_sink/TurnOnSinkFaucet/2024-04-25/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_sink/TurnSinkSpout/2024-04-29/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_stove/TurnOffStove/2024-05-02/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text +success_only/kitchen_stove/TurnOnStove/2024-05-02/demo_gentex_im128_randcams.hdf5 filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..85fe1086f088d9882dc947c6c08d1004d0586953 --- /dev/null +++ b/README.md @@ -0,0 +1,109 @@ +# RoboCasa-Cosmos-Policy + +## Dataset Description + +RoboCasa-Cosmos-Policy is a modified version of the [RoboCasa simulation benchmark dataset](https://github.com/robocasa/robocasa), created as part of the Cosmos Policy project. + +### Key Modifications + +Our modifications include the following: + +1. **Higher-resolution images**: Images are saved at 224×224 pixels (vs. 128×128 in the original). +2. **No-op actions filtering**: Transitions with "no-op" (zero) actions that don't change the robot's state are filtered out. +3. **Success trimming**: Episodes are terminated early when success is detected, removing unnecessary trailing actions. +4. **JPEG compression**: Images in the full rollouts set (`all_episodes/` described below) are JPEG-compressed to reduce storage requirements. However, the successes-only set (`success_only/` described below) contains raw images that are not compressed (though they can be compressed post-hoc if desired). +5. **Deterministic regeneration**: All demonstrations are replayed in the simulation environment with deterministic seeding for reproducibility. + +### Dataset Structure + +The dataset is organized into two main directories: + +- **`success_only/`**: Contains only successful demonstration episodes (filtered version). These are demonstrations that succeeded when replayed in the simulation environments. This set is used to train Cosmos Policy to generate high-quality actions. +- **`all_episodes/`**: Contains all episodes, including both successful and failed demonstrations. This set is used to train Cosmos Policy's world model and value function. + +Each directory contains data from 24 kitchen manipulation tasks organized into 7 categories: +- `kitchen_coffee/` - Coffee machine tasks +- `kitchen_doors/` - Cabinet/door manipulation tasks +- `kitchen_drawer/` - Drawer manipulation tasks +- `kitchen_microwave/` - Microwave tasks +- `kitchen_pnp/` - Pick-and-place tasks +- `kitchen_sink/` - Sink-related tasks +- `kitchen_stove/` - Stove manipulation tasks + +### Data Format + +Each HDF5 file in `success_only/` contains: +``` +data/ +├── demo_0/ +│ ├── obs/ +│ │ ├── robot0_agentview_left_rgb # Left third-person camera images +│ │ ├── robot0_agentview_right_rgb # Right third-person camera images +│ │ ├── robot0_eye_in_hand_rgb # Wrist camera images +│ │ ├── gripper_states # Gripper joint positions +│ │ ├── joint_states # Robot joint positions +│ │ ├── ee_states # End-effector states (position + orientation) +│ │ ├── ee_pos # End-effector position +│ │ └── ee_ori # End-effector orientation +│ ├── actions # Action sequence +│ ├── states # Environment states +│ ├── robot_states # Combined robot state (gripper + EEF pos + EEF quat) +│ ├── rewards # Sparse rewards (0 until final timestep) +│ └── dones # Episode termination flags +│ └── task_description (attribute) # Natural language task description +├── demo_1/ +... +``` + +The `all_episodes/` directory contains rollout data in a different format. Each episode is stored as a separate HDF5 file with the naming pattern: +``` +episode_data--task={task_name}--{timestamp}--ep={episode_num}--success={True/False}--regen_demo.hdf5 +``` + +Each of these HDF5 files contains: +``` +# Datasets (arrays) +primary_images_jpeg # Left third-person camera images (JPEG compressed), shape: (T, H, W, 3) +secondary_images_jpeg # Right third-person camera images (JPEG compressed), shape: (T, H, W, 3) +wrist_images_jpeg # Wrist camera images (JPEG compressed), shape: (T, H, W, 3) +proprio # Proprioceptive state (gripper + EEF pos + quat), shape: (T, 9) +actions # Action sequence, shape: (T, 7) + +# Attributes (scalars/metadata) +success # Boolean: True if episode succeeded, False otherwise +task_description # String: Natural language task description +``` + +### Statistics + +- **Total tasks**: 24 kitchen manipulation tasks +- **Demonstrations per task**: ~50 human teleoperation demonstrations per task before filtering +- **Success rate**: ~80-90% (varies by task) +- **Image resolution**: 224×224×3 (RGB) +- **Action dimensions**: 7 (6-DoF end-effector control + 1 gripper) +- **Proprioception dimensions**: 9 (2 gripper joints + 3 EEF position + 4 EEF quaternion) + +### Original RoboCasa Dataset + +This dataset is derived from the original RoboCasa benchmark: +- **Paper**: [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://arxiv.org/abs/2406.02523) +- **Repository**: https://github.com/robocasa/robocasa +- **License**: CC BY 4.0 + +### Citation + +If you use this dataset, please cite both the original RoboCasa paper and the Cosmos Policy paper. + + +### License + +Creative Commons Attribution 4.0 International (CC BY 4.0) \ No newline at end of file diff --git a/all_episodes/CloseDoubleDoor/2024-04-29/episode_data--task=close_the_cabinet_doors--2025-10-02_15-20-39--ep=1--success=False--regen_demo.hdf5 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