| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - robocasa |
| - robosuite |
| - imitation-learning |
| - memory |
| - manipulation |
| --- |
| |
| # ReMemBench-Migrated |
|
|
| Regenerated version of the [ReMemBench dataset](https://huggingface.co/datasets/Rutav/ReMemBench-Dataset), |
| replayed in the **latest RoboCasa (v1.0.1 / RoboCasa365, robosuite 1.5.2, mujoco 3.3.1)** |
| environment. The original ReMemBench demos were recorded in RoboCasa 0.2.0; this |
| dataset replays each demonstration's recorded MuJoCo states through the migrated |
| RoboCasa 1.0.1 memory-task environments and re-derives observations and images. |
|
|
| ## Contents |
|
|
| 13 memory tasks, 25 source files, **421 demonstrations**, all successful. Layout mirrors |
| the original: `<task>/<date>/{demo.hdf5, demo_im128_notp.hdf5}`. |
|
|
| - **`demo.hdf5`** — robomimic low-dim convention (`data/demo_<i>/`): `states`, `actions`, |
| `action_dict/`, `action_infos/`, `observations/` (low-dim), `policy_mode`, |
| `initial_obj_qpos/`; per-demo attrs `ep_meta`/`initial_qpos`/`model_file`/ |
| `non_robot_qpos_idx`/`num_samples`. |
| - **`demo_im128_notp.hdf5`** — robomimic image convention (`data/<Env>_<Robot>_demo_<i>/`): |
| adds 128×128 RGB from **4 cameras** (`robot0_agentview_center`, `robot0_agentview_left`, |
| `robot0_agentview_right`, `robot0_eye_in_hand`) plus `rewards`/`dones`. RGB only |
| (no segmentation / bbox suite). |
|
|
| Tasks: MemFruitInSinkLeftFar, MemFruitInSinkRightFar, MemHeatPot, MemHeatPotMultiple, |
| MemPutKBowlInCabinet, MemPutKBreadInMicrowave, MemRetrieveOilsFromCounter{LL,LR,RL,RR}, |
| MemWashAndReturn{Left,Right,SameLocation}. |
|
|
| ## Notes |
|
|
| - **State-faithful replay:** trajectories are the original recorded states; visuals |
| reflect the migrated RoboCasa 1.0.1 env. |
| - **Container-lift correction:** containers (plates/bowls) whose recorded z clipped |
| through the thinner 1.0.1 counter slabs are lifted so they rest on the surface; |
| this lift is baked into the saved `states` so states/obs/images agree. All other |
| qpos are unchanged. |
| - Some 0.2.0 fixtures fall back to 1.0.1 defaults, so scenes are visually close but |
| not pixel-identical to the originals. |
|
|
| The migrated task environments live in |
| [yilin-wu98/robocasa](https://github.com/yilin-wu98/robocasa) (branch `feat/halo-memory-tasks`). |
|
|
