---
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
    }
  }
}
```