| --- |
| configs: |
| - config_name: raw_extracted |
| data_files: |
| - split: train |
| path: data/raw_extracted.jsonl |
| - config_name: compressed |
| data_files: |
| - split: train |
| path: data/compressed.jsonl |
| --- |
| |
| # RoboCasa Pretrain65 Action2Code: Raw Extracted and Compressed |
|
|
| Self-contained local dataset for the 65 RoboCasa pretrain atomic tasks. Each task has two rows: |
| `raw_extracted` for the pre-compression open-loop-joint code and `compressed` for the final source-compressed code. |
|
|
| Videos are copied into the dataset under `videos/<dataset_type>/` and use the latest whole-body-IK validation rerun. |
|
|
| ## Common Fields |
|
|
| - `dataset_type`: `raw_extracted` or `compressed`. |
| - `pretrain_task_id`, `task_name`, `task_description`. |
| - `initial_env_config_json`, `initial_scene_json`. |
| - `code`, `code_num_lines`, `code_num_nonblank_lines`, `code_char_count`. |
| - `motion_primitive_count`, `retained_waypoint_count`. |
| - `sim_success`: latest whole-body-IK validation success label when available. |
| - `sim_aggregate_success`: original aggregate success label for this dataset type. |
| - `sim_saved_summary_success`: saved summary success label when available. |
| - `sim_validation_success`: latest validation rerun success label. |
| - `video_relpath`, `video_available`, `video_bytes`. |
|
|
| ## Summary |
|
|
| ```json |
| { |
| "row_count": 130, |
| "types": { |
| "compressed": { |
| "fail_count": 7, |
| "failing_tasks": [ |
| "OpenFridgeDrawer", |
| "OpenToasterOvenDoor", |
| "PickPlaceCabinetToCounter", |
| "PickPlaceCounterToBlender", |
| "PickPlaceCounterToStandMixer", |
| "TurnOffStove", |
| "TurnOnBlender" |
| ], |
| "max_code_char_count": 38438, |
| "max_code_num_lines": 412, |
| "mean_code_char_count": 4513.984615384616, |
| "mean_code_num_lines": 40.815384615384616, |
| "median_code_num_lines": 34, |
| "min_code_char_count": 1949, |
| "min_code_num_lines": 21, |
| "pass_count": 58, |
| "row_count": 65, |
| "video_count": 65 |
| }, |
| "raw_extracted": { |
| "fail_count": 16, |
| "failing_tasks": [ |
| "CloseBlenderLid", |
| "CloseDishwasher", |
| "CloseOven", |
| "CloseToasterOvenDoor", |
| "CoffeeServeMug", |
| "MakeIcedCoffee", |
| "OpenFridge", |
| "OpenFridgeDrawer", |
| "OpenToasterOvenDoor", |
| "PickPlaceCabinetToCounter", |
| "PickPlaceCounterToBlender", |
| "PickPlaceCounterToDrawer", |
| "PickPlaceCounterToStandMixer", |
| "TurnOffStove", |
| "TurnOnBlender", |
| "TurnOnElectricKettle" |
| ], |
| "max_code_char_count": 52371, |
| "max_code_num_lines": 423, |
| "mean_code_char_count": 22911.8, |
| "mean_code_num_lines": 245.46153846153845, |
| "median_code_num_lines": 236, |
| "min_code_char_count": 8845, |
| "min_code_num_lines": 88, |
| "pass_count": 49, |
| "row_count": 65, |
| "video_count": 65 |
| } |
| } |
| } |
| ``` |
|
|
