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Quickstart

Download the demos

Pre-collected safe/unsafe teleop demonstrations are hosted on Hugging Face. Download them into oopsiebench/demos/:

python scripts/download_demos.py                  # both simulators
python scripts/download_demos.py --sim robocasa   # or just one (robocasa / behavior1k)

Interactive visualizer (easiest)

Pick a task, pick safe/unsafe, and replay it into a health-overlay video — no flags to remember:

python scripts/quickstart_b1k.py        # BEHAVIOR-1K (conda env: oopsieverse)
python scripts/quickstart_robocasa.py   # RoboCasa    (conda env: oopsieverse_robocasa)

Teleoperation (Robocasa)

Collect a demonstration with live health feedback 

python scripts/teleop_robocasa.py \
  --env open_single_door \
  --device keyboard \
  --health-hud

On macOS, use mjpython instead of python when teleoperating with a SpaceMouse.

Available environments: pick_egg, serve_pastry, place_plate, shelve_item, wipe_counter, open_drawer, close_drawer, open_single_door, turn_on_faucet, turn_on_microwave, turn_on_stove, counter_to_microwave, prepare_coffee, prepare_breakfast, dishes_to_sink, nav_lift_bowl.

Playback (Robocasa)

Playback, render videos, and compute health metrics: 

python scripts/playback_robocasa.py \
  --input oopsiebench/demos/robocasa/teleop/open_single_door_unsafe.hdf5 \
  --output oopsiebench/demos/robocasa/playback/open_single_door_unsafe.hdf5 \
  --env open_single_door \
  --playback --visualize --metrics

Teleoperation (Behavior-1K)

Collect a demonstration with live health feedback 

python scripts/teleop_b1k.py \
  --task_name shelve_item \
  --teleop_device keyboard \
  --live_feedback \
  --save_video

Available tasks: pick_egg, place_plate, fill_bowl, shelve_item, pour_water, wipe_counter, nav_to_table, open_drawer, open_single_door, turn_on_faucet, heat_saucepot, add_firewood, food_in_microwave.

Playback (Behavior-1K)

Playback, render videos, and compute health metrics: 

python scripts/playback_b1k.py \
  --task_name shelve_item \
  --source_hdf5_path oopsiebench/demos/behavior1k/teleop/shelve_item_unsafe.hdf5 \
  --playback_hdf5_path oopsiebench/demos/behavior1k/playback/shelve_item_unsafe.hdf5 \
  --playback --visualize --compute_metrics