---
license: mit
task_categories:
  - robotics
tags:
  - oat
  - robocasa
  - close_drawer
---

# OAT RoboCasa — close_drawer dataset + Wave1 logs

Companion model repo: [`hackhackhack66666/close-rc-models`](https://huggingface.co/hackhackhack66666/close-rc-models).

## Contents

| Path | Description |
|------|-------------|
| `close_drawer_N200.zarr/` | Official 50H+150M demos → zarr (Da=12) |
| `wave1_close_drawer/summary_literal5.json` | aggregated baseline + BoN8 |
| `wave1_close_drawer/baseline_seed{10000..10004}/eval_log.json` | Wave1 baseline |
| `wave1_close_drawer/bon_n8_seed{10000..10004}/eval_log.json` | Wave1 BoN N=8 vote |

Wave1 locked: baseline **0.560**, BoN8 **0.596**, Δ **+0.036**.

Videos omitted (eval_log only).

## Place under `oat/`

```bash
cd oat
rsync -a close_drawer_N200.zarr data/robocasa/
rsync -a wave1_close_drawer/ output/eval/matched_s10000/robocasa/close_drawer/
```