Add dataset card and documentation for ReMemBench

README.md

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+---
+task_categories:
+- robotics
+tags:
+- manipulation
+- imitation-learning
+- visuomotor-policies
+- short-term-memory
+---
+
+# ReMemBench: Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks
+
+[**[Project Page]**](https://shahrutav.github.io/short-term-memory/)   [**[Paper]**](https://huggingface.co/papers/2606.16178)   [**[GitHub]**](https://github.com/ShahRutav/ReMemBench)
+
+ReMemBench is a benchmark consisting of eight diverse household manipulation tasks spanning four categories of short-term memory, designed to foster general memory mechanisms in robotic visuomotor policies. Built upon [RoboCasa](https://robocasa.ai/), it provides expert teleoperated demonstrations for training and evaluating policies in long-horizon tasks.
+
+## Task Categories
+
+Tasks are organized by memory type. Each task is provided with 50 expert demonstrations for training.
+
+| Task Name | Memory Category | Task Variants |
+|-----------|----------------|---------------|
+| **Retrieve Fruit**<br/>Remember fruit location (out of view). | **Spatial Memory**<br/>*Recall object locations* | `MemFruitInSinkLeftFar`<br/>`MemFruitInSinkRightFar` |
+| **Retrieve Oil**<br/>Remember oil bottle location among distractors. | **Spatial Memory**<br/>*Recall object locations* | `MemRetrieveOilsFromCounterLL`<br/>`MemRetrieveOilsFromCounterLR`<br/>`MemRetrieveOilsFromCounterRL`<br/>`MemRetrieveOilsFromCounterRR` |
+| **Cook Meat**<br/>Remember cooking duration while waiting. | **Prospective Memory**<br/>*Retain intentions over delay* | `MemHeatPot` |
+| **Cook Meat and Vegetable**<br/>Remember multiple timed actions. | **Prospective Memory**<br/>*Retain intentions over delay* | `MemHeatPotMultiple` |
+| **Wash and Return to Container**<br/>Remember which saucer (left/right) the fruit came from. | **Object-Associative Memory**<br/>*Recall associations* | `MemWashAndReturnLeft`<br/>`MemWashAndReturnRight` |
+| **Wash and Return to Original Spot**<br/>Remember original countertop location. | **Object-Associative Memory**<br/>*Recall associations* | `MemWashAndReturnSameLocation` |
+| **Microwave Breadsticks**<br/>Remember count of breadsticks moved. | **Object-Set Memory**<br/>*Maintain/update sets* | `MemPutKBreadInMicrowave` |
+| **Relocate Bowls**<br/>Remember count of bowls among distractors. | **Object-Set Memory**<br/>*Maintain/update sets* | `MemPutKBowlInCabinet` |
+
+## Data Downloading 
+
+You can download the dataset using the `huggingface-cli`:
+
+```bash
+huggingface-cli download Rutav/ReMemBench-Dataset \
+  --repo-type dataset \
+  --local-dir ReMemBench-Dataset \
+  --local-dir-use-symlinks False
+```
+
+## Dataset Structure
+
+The dataset is organized by task name, with each task containing demonstration sessions in HDF5 format.
+
+### File Structure
+```
+ReMemBench-Dataset/
+├── MemFruitInSinkLeftFar/
+├── MemHeatPot/
+│   ├── [timestamp]/
+│   │   ├── demo.hdf5
+│   │   └── demo_im128.hdf5  # Image version
+├── ...
+└── task_embeds_clip_v3.pickle
+```
+
+### HDF5 File Structure (`demo_im128.hdf5`)
+- **`actions`**: (T, 12) - [7D arm, 4D base, 1D mode]
+- **`obs`**:
+    - `robot0_joint_pos_cos` / `robot0_joint_pos_sin`: (T, 7) - Joint position encoding
+    - `robot0_gripper_qpos`: (T, 2) - Gripper position
+    - `robot0_agentview_center_image`: (T, 128, 128, 3) - RGB third-person view
+    - `robot0_eye_in_hand_image`: (T, 128, 128, 3) - RGB eye-in-hand view
+- **`rewards`**, **`dones`**, **`states`**: Standard simulation signals
+
+## Exploring the Data
+
+To visualize demonstrations, use the `replay_dataset.py` script from the [official repository](https://github.com/ShahRutav/ReMemBench):
+
+```bash
+python robocasa/scripts/replay_dataset.py \
+  --hdf5_path ReMemBench-Dataset/MemHeatPot/[timestamp]/demo_im128.hdf5 \
+  --episode_idx 0 \
+  --render
+```
+
+## Converting to LeRobot Dataset Format
+
+A conversion script is provided in the repository to port the data to [LeRobot](https://github.com/huggingface/lerobot) format:
+
+```bash
+python robocasa/scripts/port_to_lerobot.py \
+  --dataset_path ReMemBench-Dataset/MemHeatPot/[timestamp]/demo_im128.hdf5 \
+  --repo_name your_hf_username/MemHeatPot
+```
+
+## Citation
+
+```bibtex
+@article{shah2024scaling,
+  title={Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks},
+  author={Shah, Rutav and others},
+  journal={arXiv preprint arXiv:2606.16178},
+  year={2024}
+}
+```