| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - ace-ego-0 |
| - robocasa |
| - gr1 |
| - lerobot |
| - camera-space |
| - eef |
| --- |
| |
| # RoboCasa Camera-Space EEF (ACE-Ego-0) |
|
|
| LeRobot v2.0 demonstrations for the 24 GR1 RoboCasa TableTop tasks used by |
| [ACE-Ego-0](https://github.com/ACERobotics-VLA/ACE-Ego-0) SFT. Actions and states |
| are stored in the observation camera frame (end-effector position + rot6d, plus |
| gripper and waist). |
|
|
| This dataset does **not** include unused conversion caches (`experiments/`) or |
| legacy per-dataset index files. Training reads only the files listed below and |
| the shipped merged q99 statistics. The training code never recomputes norms. |
|
|
| ## Layout |
|
|
| ```text |
| <task>/ |
| data/chunk-*/episode_*.parquet |
| videos/chunk-*/observation.images.ego_view/episode_*.mp4 |
| meta/info.json |
| meta/modality.json |
| meta/episodes.jsonl |
| meta/stats_gr00t.json |
| meta/stats_gr00t_delta_q99_first_state.json |
| norm/absolute/{norm_manifest.json,merged_stats.json} |
| norm/delta/{norm_manifest.json,merged_stats.json} |
| ``` |
|
|
| Task directory names match `configs/robocasa24/datasets.yaml` in ACE-Ego-0, for |
| example `gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000`. |
|
|
| ## Download |
|
|
| ```bash |
| huggingface-cli download ACERobotics/Robocasa_Camera_Space_Eef \ |
| --repo-type dataset \ |
| --local-dir data/robocasa24 |
| ``` |
|
|
| Point the public recipes at this folder: |
|
|
| ```bash |
| python scripts/train.py \ |
| --config configs/robocasa24/absolute_sft.yaml \ |
| --data-root data/robocasa24 \ |
| --norm-manifest data/robocasa24/norm/absolute/norm_manifest.json |
| ``` |
|
|
| Delta SFT uses `norm/delta/norm_manifest.json` and the delta recipe. |
|
|
| ## Notes |
|
|
| - 24 tasks, about 5.82M frames, ego-view video at the source resolution. |
| - Absolute and Delta SFT share the same trajectories; only the shipped merged |
| statistics and the delta transform differ. |
| - Per-dataset `stats_gr00t*.json` files are completeness artifacts. Runtime q99 |
| comes from `norm/{absolute,delta}/merged_stats.json`. |
|
|
