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README.md

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+---
+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.

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