# Overview **RoboCasa** is a large-scale simulation framework for training generally capable robots to perform everyday tasks. Four pillars underlie RoboCasa: - **Diverse assets**, including 120 kitchen scenes and over 2,500 3D objects, created with the aid of generative AI tools - **Cross-embodiment support** for mobile manipulators and humanoid robots - **Diverse tasks** created with the guidance of large language models - **High-quality human demonstrations** in addition to **massive robot datasets** created with automated trajectory tools