Scenes#
RoboCasa offers a large array of kitchen scenes with fully interactive cabinets, drawers, and appliances. We model 2,500 pretraining kitchen scenes, and 10 distinct target kitchen scenes. Each scene is defined by a (layout, style) pair. Layouts define the basic floor plan of the kitchen, setting the arrangment of fixtures (cabinets, microwaves, counters, etc.). Styles define relevant textures and fixture attributes (cabinet handle types, door types, coffee machine types, etc).
The list of layout definitions can he found here and style definitions can be found here.
Environments can be initialized with pretraining or target kitchens using the split argument. For example:
import robocasa
import gymnasium as gym
# creates an environment with pretraining kitchen scenes
env = gym.make(
"robocasa/PickPlaceCounterToCabinet",
split="pretrain",
)
# creates an environment with target kitchen scenes
env = gym.make(
"robocasa/PickPlaceCounterToCabinet",
split="target",
)
Target kitchens#
layout 1 / style 1
layout 2 / style 2
layout 3 / style 3
layout 4 / style 4
layout 5 / style 5
layout 6 / style 6
layout 7 / style 7
layout 8 / style 8
layout 9 / style 9
layout 10 / style 10
Pretraining kitchens#
For pretraining kitchens, we provide 50 layouts and 50 styles. The layouts are sourced from real world kitchens based on Zillow listings found across diverse locations in the United States (California Bay Area, Denver, Austin, Atlanta, Boston). Each layout can be paired with any style, resulting in 2,500 total pretraining kitchen scenes.
