| --- |
| 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](https://github.com/huggingface/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`](https://huggingface.co/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 |
|
|
| ```python |
| 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`](https://huggingface.co/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. |
|
|
