---
license: apache-2.0
task_categories:
- robotics
---

# RoboMME Training Data (Pickle Format)

[Paper](https://huggingface.co/papers/2603.04639) | [Website](https://robomme.github.io/) | [Benchmark Code](https://github.com/RoboMME/robomme_benchmark) | [Policy Learning Code](https://github.com/RoboMME/robomme_policy_learning)

This repository contains preprocessed pickle files for RoboMME training data and npy files for cached image tokens. This dataset is used in the [MME-VLA](https://github.com/RoboMME/robomme_policy_learning) experiments.

RoboMME is a large-scale standardized benchmark for evaluating and advancing Vision-Language-Action (VLA) models in long-horizon, history-dependent scenarios. It comprises 16 manipulation tasks across four cognitively motivated suites:
- **Counting** (Temporal memory)
- **Permanence** (Spatial memory)
- **Reference** (Object memory)
- **Imitation** (Procedural memory)

## Repository Structure

```
.
├── data        # zipped pickle files
├── features    # zipped precompute siglip embeddings
├── meta        # statistics for robomme
├── memer       # VLM subgoal training data for MemER (only used for symbolic memory)
├── qwenvl      # VLM subgoal training data for QwenVL  (only used for symbolic memory)
└── README.md
```

## Sample Usage

To evaluate on the test set using the `BenchmarkEnvBuilder` from the benchmark repository:

```python
task_id = "PickXtimes"
episode_idx = 0
env_builder = BenchmarkEnvBuilder(
    env_id=task_id,
    dataset="test",
)

env = env_builder.make_env_for_episode(episode_idx)
obs, info = env.reset() # initial step
task_goal = info['task_goal'][0]

# Policy interaction loop
# obs, _, terminated, truncated, info = env.step(action)
```

## Citation

```bibtex
@article{dai2026robomme,
  title={RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies},
  author={Dai, Yinpei and Fu, Hongze and Lee, Jayjun and Liu, Yuejiang and Zhang, Haoran and Yang, Jianing and Chelsea Finn and Nima Fazeli and Joyce Chai},
  journal={arXiv preprint arXiv:2603.04639},
  year={2026}
}
```