RoboCasa Pretraining Dataset Video trajectory dataset for robot manipulation pretraining in the RoboCasa kitchen simulation environment. Contains two data splits: synthetically generated MimicGen demonstrations and human teleoperated demonstrations. Dataset Summary Split Examples Description robocasa pretrain mimicgen 536,030 MimicGen generated trajectories robocasa pretrain human 32,043 Human teleoperated trajectories Total 568,073 Each example corresponds to one robot manipulation trajectory rendered as an MP4 video clip, paired with structured metadata. Data Structure Each split is a Parquet index paired with video files stored as trajectory XXXX.mp4 in batch subdirectories. Fields Field Type Description id string Unique trajectory identifier task string Task name (e.g., kitchen manipulation task) lang vector float32[] Language embedding vector for the task instruction data source string Data collection method ( mimicgen or human ) frames string Path to the corresponding MP4 video file is robot bool Whether the trajectory was executed by a robot quality label string Trajectory quality annotation partial success float32 Partial task completion score [0, 1] Usage About RoboCasa Ro…
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