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Datasets:
qiuly
/
Mem-0-m1mix-dataset-RMBench

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
RoboTwin
RMBench
Mem-0
manipulation
dual-arm
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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Auto-converted to Parquet Duplicate
observation.state
list
action
list
subtask
string
subtask_end
int32
episode_id
int32
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
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1
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
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0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.066667
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0
32
0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.1
33
0
33
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.133333
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0
34
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.166667
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0
35
0
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[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.2
36
0
36
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.3
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0
39
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
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0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
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Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.4
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42
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.433333
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0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.466667
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0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.5
45
0
45
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.533333
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0
46
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.566667
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0
47
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.6
48
0
48
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.633333
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0
49
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.666667
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0
50
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.7
51
0
51
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.733333
52
0
52
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.766667
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0
53
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.8
54
0
54
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.833333
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0
55
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.866667
56
0
56
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.9
57
0
57
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.933333
58
0
58
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
1.966667
59
0
59
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2
60
0
60
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.033333
61
0
61
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.066667
62
0
62
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.1
63
0
63
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.133333
64
0
64
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.166667
65
0
65
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0, 0, 0.000009999999747378752, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.2
66
0
66
0
[ 0, 0, 0.000009999999747378752, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.00009808310278458521, 0.0009091458050534129, 0.000803471717517823, -0.0008029392338357866, 0.0000032232096600637306, -0.00014878199726808816, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.233333
67
0
67
0
[ 0.00009808310278458521, 0.0009091458050534129, 0.000803471717517823, -0.0008029392338357866, 0.0000032232096600637306, -0.00014878199726808816, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.0012731928145512938, 0.011851470917463303, 0.010316208004951477, -0.010432182811200619, 0.00004183196506346576, -0.0019312805961817503, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.266667
68
0
68
0
[ 0.0012731928145512938, 0.011851470917463303, 0.010316208004951477, -0.010432182811200619, 0.00004183196506346576, -0.0019312805961817503, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.0035411694552749395, 0.03340468555688858, 0.028681233525276184, -0.029032710939645767, 0.00011638514115475118, -0.005370674654841423, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.3
69
0
69
0
[ 0.0035411694552749395, 0.03340468555688858, 0.028681233525276184, -0.029032710939645767, 0.00011638514115475118, -0.005370674654841423, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.006800939794629812, 0.06556985527276993, 0.055053260177373886, -0.05574022978544235, 0.00022364914184436202, -0.010313511826097965, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.333333
70
0
70
0
[ 0.006800939794629812, 0.06556985527276993, 0.055053260177373886, -0.05574022978544235, 0.00022364914184436202, -0.010313511826097965, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.01093314215540886, 0.10831820964813232, 0.08851134777069092, -0.08962133526802063, 0.000359509838744998, -0.016580820083618164, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.366667
71
0
71
0
[ 0.01093314215540886, 0.10831820964813232, 0.08851134777069092, -0.08962133526802063, 0.000359509838744998, -0.016580820083618164, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.015834277495741844, 0.16156554222106934, 0.12818953394889832, -0.1297943890094757, 0.0005206546629779041, -0.024017630144953728, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.4
72
0
72
0
[ 0.015834277495741844, 0.16156554222106934, 0.12818953394889832, -0.1297943890094757, 0.0005206546629779041, -0.024017630144953728, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.021405216306447983, 0.2245493084192276, 0.1732679009437561, -0.17544026672840118, 0.0007038444746285677, -0.03246999531984329, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.433333
73
0
73
0
[ 0.021405216306447983, 0.2245493084192276, 0.1732679009437561, -0.17544026672840118, 0.0007038444746285677, -0.03246999531984329, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.02754400111734867, 0.29585668444633484, 0.22296056151390076, -0.2257508635520935, 0.0009056639391928911, -0.04178639128804207, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.466667
74
0
74
0
[ 0.02754400111734867, 0.29585668444633484, 0.22296056151390076, -0.2257508635520935, 0.0009056639391928911, -0.04178639128804207, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.03415890038013458, 0.3742121756076813, 0.2765224874019623, -0.2799748480319977, 0.0011231651296839118, -0.05181977525353432, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.5
75
0
75
0
[ 0.03415890038013458, 0.3742121756076813, 0.2765224874019623, -0.2799748480319977, 0.0011231651296839118, -0.05181977525353432, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.04117123410105705, 0.4586523175239563, 0.33333826065063477, -0.3374813199043274, 0.0013535512844100595, -0.06245943903923035, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.533333
76
0
76
0
[ 0.04117123410105705, 0.4586523175239563, 0.33333826065063477, -0.3374813199043274, 0.0013535512844100595, -0.06245943903923035, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.04847650229930878, 0.5474866628646851, 0.3924502432346344, -0.3973175883293152, 0.0015937514835968614, -0.0735357329249382, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.566667
77
0
77
0
[ 0.04847650229930878, 0.5474866628646851, 0.3924502432346344, -0.3973175883293152, 0.0015937514835968614, -0.0735357329249382, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.05597907677292824, 0.6396512985229492, 0.453137069940567, -0.4587397873401642, 0.0018404623260721564, -0.08491181582212448, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.6
78
0
78
0
[ 0.05597907677292824, 0.6396512985229492, 0.453137069940567, -0.4587397873401642, 0.0018404623260721564, -0.08491181582212448, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.06356405466794968, 0.7339316606521606, 0.5145859718322754, -0.5209377408027649, 0.0020897213835269213, -0.09641502052545547, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.633333
79
0
79
0
[ 0.06356405466794968, 0.7339316606521606, 0.5145859718322754, -0.5209377408027649, 0.0020897213835269213, -0.09641502052545547, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.07114998251199722, 0.8289341330528259, 0.5760204195976257, -0.583118736743927, 0.0023391172289848328, -0.10792028903961182, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.666667
80
0
80
0
[ 0.07114998251199722, 0.8289341330528259, 0.5760204195976257, -0.583118736743927, 0.0023391172289848328, -0.10792028903961182, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.07864014059305191, 0.9233368039131165, 0.6366512775421143, -0.64449143409729, 0.002585437847301364, -0.11928059160709381, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.7
81
0
81
0
[ 0.07864014059305191, 0.9233368039131165, 0.6366512775421143, -0.64449143409729, 0.002585437847301364, -0.11928059160709381, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.08593378216028214, 1.0157657861709595, 0.6956790685653687, -0.7042579650878906, 0.0028253458440303802, -0.13034215569496155, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.733333
82
0
82
0
[ 0.08593378216028214, 1.0157657861709595, 0.6956790685653687, -0.7042579650878906, 0.0028253458440303802, -0.13034215569496155, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.09292212873697281, 1.1048357486724854, 0.7522785067558289, -0.7615647912025452, 0.003055151551961899, -0.14094488322734833, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.766667
83
0
83
0
[ 0.09292212873697281, 1.1048357486724854, 0.7522785067558289, -0.7615647912025452, 0.003055151551961899, -0.14094488322734833, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.09950459003448486, 1.1891931295394897, 0.8055759072303772, -0.8155398368835449, 0.0032716302666813135, -0.1509275883436203, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.8
84
0
84
0
[ 0.09950459003448486, 1.1891931295394897, 0.8055759072303772, -0.8155398368835449, 0.0032716302666813135, -0.1509275883436203, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.10557641834020615, 1.267240285873413, 0.8547118902206421, -0.8652860522270203, 0.0034712916240096092, -0.16013984382152557, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.833333
85
0
85
0
[ 0.10557641834020615, 1.267240285873413, 0.8547118902206421, -0.8652860522270203, 0.0034712916240096092, -0.16013984382152557, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.11109056323766708, 1.338087558746338, 0.8993721008300781, -0.9105142951011658, 0.0036525095347315073, -0.1685066968202591, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.866667
86
0
86
0
[ 0.11109056323766708, 1.338087558746338, 0.8993721008300781, -0.9105142951011658, 0.0036525095347315073, -0.1685066968202591, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.11598863452672958, 1.4005011320114136, 0.9390329718589783, -0.9506667256355286, 0.0038135689683258533, -0.17593914270401, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.9
87
0
87
0
[ 0.11598863452672958, 1.4005011320114136, 0.9390329718589783, -0.9506667256355286, 0.0038135689683258533, -0.17593914270401, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.1201988086104393, 1.4532796144485474, 0.9731237292289734, -0.9851784110069275, 0.003951971884816885, -0.18232503533363342, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.933333
88
0
88
0
[ 0.1201988086104393, 1.4532796144485474, 0.9731237292289734, -0.9851784110069275, 0.003951971884816885, -0.18232503533363342, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12366782873868942, 1.4956251382827759, 1.0012198686599731, -1.013616681098938, 0.0040658884681761265, -0.18758828938007355, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
2.966667
89
0
89
0
[ 0.12366782873868942, 1.4956251382827759, 1.0012198686599731, -1.013616681098938, 0.0040658884681761265, -0.18758828938007355, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12635676562786102, 1.5274057388305664, 1.0229073762893677, -1.035559058189392, 0.00415434455499053, -0.1916644275188446, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3
90
0
90
0
[ 0.12635676562786102, 1.5274057388305664, 1.0229073762893677, -1.035559058189392, 0.00415434455499053, -0.1916644275188446, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12818580865859985, 1.5485965013504028, 1.0377167463302612, -1.050543189048767, 0.004214432556182146, -0.19444021582603455, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.033333
91
0
91
0
[ 0.12818580865859985, 1.5485965013504028, 1.0377167463302612, -1.050543189048767, 0.004214432556182146, -0.19444021582603455, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12910158932209015, 1.5592000484466553, 1.0451617240905762, -1.0580732822418213, 0.00424450496211648, -0.1958318054676056, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.066667
92
0
92
0
[ 0.12910158932209015, 1.5592000484466553, 1.0451617240905762, -1.0580732822418213, 0.00424450496211648, -0.1958318054676056, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12915483117103577, 1.5598173141479492, 1.0455946922302246, -1.0585111379623413, 0.004246253985911608, -0.19591273367404938, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.1
93
0
93
0
[ 0.12915483117103577, 1.5598173141479492, 1.0455946922302246, -1.0585111379623413, 0.004246253985911608, -0.19591273367404938, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12915483117103577, 1.5598173141479492, 1.0455946922302246, -1.0585111379623413, 0.004246253985911608, -0.19591273367404938, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.133333
94
0
94
0
[ 0.12915483117103577, 1.5598173141479492, 1.0455946922302246, -1.0585111379623413, 0.004246253985911608, -0.19591273367404938, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12915483117103577, 1.5598173141479492, 1.0455946922302246, -1.0585111379623413, 0.004246253985911608, -0.19591273367404938, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.166667
95
0
95
0
[ 0.12915483117103577, 1.5598173141479492, 1.0455946922302246, -1.0585111379623413, 0.004246253985911608, -0.19591273367404938, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.1240599974989891, 1.5566099882125854, 1.0423799753189087, -1.055999994277954, 0.004339999984949827, -0.1949400007724762, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.2
96
0
96
0
[ 0.1240599974989891, 1.5566099882125854, 1.0423799753189087, -1.055999994277954, 0.004339999984949827, -0.1949400007724762, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12459681183099747, 1.5580085515975952, 1.039915680885315, -1.0528792142868042, 0.0043248520232737064, -0.1953631192445755, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.233333
97
0
97
0
[ 0.12459681183099747, 1.5580085515975952, 1.039915680885315, -1.0528792142868042, 0.0043248520232737064, -0.1953631192445755, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.12595735490322113, 1.5637924671173096, 1.0303089618682861, -1.0401993989944458, 0.004283668473362923, -0.19626730680465698, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.266667
98
0
98
0
[ 0.12595735490322113, 1.5637924671173096, 1.0303089618682861, -1.0401993989944458, 0.004283668473362923, -0.19626730680465698, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
[ 0.1271643340587616, 1.5736238956451416, 1.0145639181137085, -1.016853928565979, 0.00424695760011673, -0.1967139095067978, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1 ]
Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.
0
0
3.3
99
0
99
0
End of preview. Expand in Data Studio

Mem-0 m1_mix — RMBench / RoboTwin 2.0 (LeRobot dataset)

The m1_mix training dataset for the Mem-0 execution module: the five RMBench M1 tasks merged into a single LeRobot v2.1 dataset with globally unique episode indices. This is the exact data used to train the checkpoint released at qiuly/Mem-0-m1mix-RMBench.

Summary

Format LeRobot v2.1
Episodes 250 (50 per task × 5 tasks)
Frames 92,520
FPS 30
Tasks 5 (see below)
Robot dual-arm (2× 7-DoF + 2 grippers)
Size ~234 MB

Tasks (meta/tasks.jsonl)

observe_and_pickup, put_back_block, rearrange_blocks, swap_blocks, swap_T.

Episodes are laid out contiguously by task and indexed 0–249 with no collisions — this global indexing is required by the Mem-0 MemoryBank, which groups frames by episode_id; merging per-task datasets without re-indexing would alias episodes across tasks.

Features (meta/info.json is authoritative)

key dtype shape notes
observation.image.head_camera video 240×320×3 av1-encoded, one mp4 per episode
observation.state float32 (16,) left j0–j6, right j0–j6, left_gripper, right_gripper
action float32 (16,) same 16-D dual-arm joint+gripper layout

The per-episode parquet files additionally carry the Mem-0 training columns (subtask, subtask_end, episode_id, timestamps/indices). See meta/info.json for the full schema and meta/episodes_stats.jsonl for per-episode statistics.

Layout 

m1_mix/
├── data/chunk-000/episode_{000000..000249}.parquet     # states, actions, subtask labels
├── videos/chunk-000/observation.image.head_camera/
│   └── episode_{000000..000249}.mp4                     # head-camera RGB (av1)
└── meta/
    ├── info.json              # schema, counts, fps, paths
    ├── episodes.jsonl         # per-episode task + length
    ├── episodes_stats.jsonl   # per-episode feature stats
    └── tasks.jsonl            # task_index -> task name

Usage 

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("qiuly/Mem-0-m1mix-dataset-RMBench")
print(ds.meta.info["total_episodes"], "episodes")

Normalization

The released model uses min-max → [-1, 1] normalization over the 14 arm dimensions; the exact stats (norm_stats.json) ship with the model repo qiuly/Mem-0-m1mix-RMBench, not in this dataset. meta/episodes_stats.jsonl here gives raw per-episode statistics.

License & attribution

Released under Apache-2.0. Generated with the RMBench / RoboTwin 2.0 simulator; refer to the upstream RMBench repository for simulator terms and task definitions.
Downloads last month
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Number of rows:
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Total file size:
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