---
license: mit
tags:
- robotics
- oat
- robocasa
- evaluation
---

# RoboCasa last-two — datasets + Wave1 logs

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

Guides (branch `robocasa`):
- [AGENT_GUIDE_ROBOCASA_SINK_BON16_AWR.md](https://github.com/Mirageinvo/OAT_BLT_research/blob/robocasa/oat/AGENT_GUIDE_ROBOCASA_SINK_BON16_AWR.md)
- [AGENT_GUIDE_ROBOCASA_MICROWAVE_BON16_AWR.md](https://github.com/Mirageinvo/OAT_BLT_research/blob/robocasa/oat/AGENT_GUIDE_ROBOCASA_MICROWAVE_BON16_AWR.md)

## Inventory (mentee readiness)

| Asset | Status | Needed for AWR16 Wave2? |
|-------|--------|-------------------------|
| `turn_off_sink_faucet_N200.zarr.tar` | ✅ on repo | yes (untar → `data/robocasa/`) |
| `turn_off_microwave_N200.zarr.tar` | ✅ on repo | yes |
| Wave1 sink **baseline** seeds `10000..10004` | ✅ | **yes** (Wave2 gate) |
| Wave1 sink **BoN8** seeds `10000..10004` + `summary_literal5.json` | ✅ | no (Table P only) |
| Wave1 microwave **baseline** seeds `10000..10004` | ✅ | **yes** (Wave2 gate) |
| Wave1 microwave **BoN8** | ⏳ **1/5** (`seed10000` only) — cluster still running | no for AWR16 |
| Microwave `summary_literal5.json` | ⏳ provisional (BoN incomplete) | no |

## Wave1 Table P (literal-5)

Protocol: seeds `10000..10004`, `-n 1 --n_test 50`, OAT8; BoN `--bon_free 8 --bon_signal vote`.  
Aggregation: mean±SEM over 5 seeds; `Δ = mean(BoN)−mean(base)`, `SEM_Δ = sqrt(SEM_b²+SEM_m²)`.

| task | baseline mean±SEM | BoN N=8 | Δ_BoN±SEM_Δ | status |
|------|-------------------|---------|-------------|--------|
| `turn_off_sink_faucet` | **52.4±2.5%** | **56.0±3.4%** | **+3.6±4.2 pp** | DONE |
| `turn_off_microwave` | **43.6±3.1%** | *(pending 1/5)* | — | base DONE · BoN RUNNING |

## Layout after download

```text
turn_off_*_N200.zarr.tar          # large — already on this dataset
wave1_turn_off_sink_faucet/
  baseline_seed{10000..10004}/eval_log.json
  bon_n8_seed{10000..10004}/eval_log.json
  summary_literal5.json
wave1_turn_off_microwave/
  baseline_seed{10000..10004}/eval_log.json   # complete — mentee OK to start Wave2
  bon_n8_seed10000/eval_log.json              # partial
  summary_literal5.json                       # provisional until BoN 5/5
```

### Place under `oat/`

```bash
tar -xf turn_off_sink_faucet_N200.zarr.tar -C data/robocasa/
tar -xf turn_off_microwave_N200.zarr.tar -C data/robocasa/
rsync -a wave1_turn_off_sink_faucet/ \
  output/eval/matched_s10000/robocasa/turn_off_sink_faucet/
rsync -a wave1_turn_off_microwave/ \
  output/eval/matched_s10000/robocasa/turn_off_microwave/
```

Wave2 gate check (both tasks):

```bash
for t in turn_off_sink_faucet turn_off_microwave; do
  for s in 10000 10001 10002 10003 10004; do
    test -f output/eval/matched_s10000/robocasa/$t/baseline_seed$s/eval_log.json && echo OK $t $s
  done
done
```

When microwave BoN finishes on cluster, refresh `bon_n8_seed*` + final `summary_literal5.json` here (or see `hackhackhack66666/last`).