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ACERobotics/Robocasa_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 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.… See the full description on the dataset page: https://huggingface.co/datasets/ACERobotics/Robocasa_Camera_Space_Eef.

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1---2license: apache-2.03task_categories:4  - robotics5language:6  - en7tags:8  - ace-ego-09  - robocasa10  - gr111  - lerobot12  - camera-space13  - eef14---15 16# RoboCasa Camera-Space EEF (ACE-Ego-0)17 18LeRobot v2.0 demonstrations for the 24 GR1 RoboCasa TableTop tasks used by19[ACE-Ego-0](https://github.com/ACERobotics-VLA/ACE-Ego-0) SFT. Actions and states20are stored in the observation camera frame (end-effector position + rot6d, plus21gripper and waist).22 23This dataset does **not** include unused conversion caches (`experiments/`) or24legacy per-dataset index files. Training reads only the files listed below and25the shipped merged q99 statistics. The training code never recomputes norms.26 27## Layout28 29```text30<task>/31  data/chunk-*/episode_*.parquet32  videos/chunk-*/observation.images.ego_view/episode_*.mp433  meta/info.json34  meta/modality.json35  meta/episodes.jsonl36  meta/stats_gr00t.json37  meta/stats_gr00t_delta_q99_first_state.json38norm/absolute/{norm_manifest.json,merged_stats.json}39norm/delta/{norm_manifest.json,merged_stats.json}40```41 42Task directory names match `configs/robocasa24/datasets.yaml` in ACE-Ego-0, for43example `gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000`.44 45## Download46 47```bash48huggingface-cli download ACERobotics/Robocasa_Camera_Space_Eef \49  --repo-type dataset \50  --local-dir data/robocasa2451```52 53Point the public recipes at this folder:54 55```bash56python scripts/train.py \57  --config configs/robocasa24/absolute_sft.yaml \58  --data-root data/robocasa24 \59  --norm-manifest data/robocasa24/norm/absolute/norm_manifest.json60```61 62Delta SFT uses `norm/delta/norm_manifest.json` and the delta recipe.63 64## Notes65 66- 24 tasks, about 5.82M frames, ego-view video at the source resolution.67- Absolute and Delta SFT share the same trajectories; only the shipped merged68  statistics and the delta transform differ.69- Per-dataset `stats_gr00t*.json` files are completeness artifacts. Runtime q9970  comes from `norm/{absolute,delta}/merged_stats.json`.71