This dataset contains two RoboCasa MimicGen pick-and-place datasets in the original HDF5 format:
PnPCabToCounter
PnPCounterToSink
The raw HDF5 files are stored under raw/.
Tables
metadata.csv: one row per demonstration.
actions.csv: one row per timestep with action_0 through action_11, plus timestep-level gripper joint positions.
subtasks.csv: one row per demonstration with the computed pick / place split boundary.
Subtask Split Table… See the full description on the dataset page: https://huggingface.co/datasets/kiratan/robocasa-pnp-mimicgen.
