chaoqi-liu/robocasa_drawer-button_H50_M500

---
configs:
- config_name: default
data_files: data/**/*.parquet
default: true
tags:
- LeRobot
- robotics
- robocasa
license: apache-2.0
---

# robocasa_drawer-button_H50_M500

A multi-task RoboCasa dataset converted to [LeRobot v3](https://github.com/huggingface/lerobot) format.

## Tasks (7)

| Index | Description |
|-------|-------------|
| 0 | open the right drawer |
| 1 | open the left drawer |
| 2 | close the left drawer |
| 3 | close the right drawer |
| 4 | press the button on the coffee machine to serve coffee |
| 5 | press the start button on the microwave |
| 6 | press the stop button on the microwave |

## Statistics

- **Total episodes**: 2,750
- **Total frames**: 559,378
- **FPS**: 20
- **Robot**: PandaOmron
- **Cameras**: robot0_agentview_left, robot0_agentview_right, robot0_eye_in_hand (128×128)
- **Per task**: 50 human demos + 500 MimicGen demos

## Observation space

| Key | Type | Shape |
|-----|------|-------|
| `observation.images.robot0_agentview_left` | video | 128×128×3 |
| `observation.images.robot0_agentview_right` | video | 128×128×3 |
| `observation.images.robot0_eye_in_hand` | video | 128×128×3 |
| `observation.state.robot0_eef_pos` | float32 | (3,) |
| `observation.state.robot0_eef_quat` | float32 | (4,) |
| `observation.state.robot0_gripper_qpos` | float32 | (2,) |
| `action` | float32 | (12,) |