Datasets:

qiuly
/

Mem-0-m1mix-dataset-RMBench

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - RoboTwin
  - RMBench
  - Mem-0
  - manipulation
  - dual-arm
size_categories:
  - n<1K

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.

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