BrunoM42/rmbench

This dataset was created using LeRobot.

Dataset Description

LeRobot-format conversion of the RMBench demonstrations (demo_clean, Aloha-AgileX dual arm, simulated in RoboTwin 2.0 / SAPIEN): 10 memory-dependent manipulation tasks x 50 expert episodes. Source: TianxingChen/RMBench at revision 5d8ff21038fb; all credit for the benchmark and data goes to its authors.

• observation.state: 14-D joint positions (left arm 6, left gripper, right arm 6, right gripper; grippers in [0, 1]). action: the next frame's joint positions, i.e. absolute joint targets as RMBench's take_action consumes them. Each episode therefore has T-1 frames.

• observation.images.{head,left,right}_camera: 240x320 RGB. The observer camera is not included.

• task: the task's single official instruction (identical across its episodes).

• rmbench.segment_index: index of the frame's segment in RMBench's language_annotation.json. Segment texts, lengths and each episode's simulator seed are in meta/rmbench_episodes.json.

• fps is a label (15): RMBench records one frame per controller step.

• Camera frames were decoded with RMBench's own channel convention (its legacy JPEGs store RGB through OpenCV's BGR path), and checked against the episode videos shipped with the source.

• Homepage: https://github.com/RoboTwin-Platform/RMBench

• Paper: https://arxiv.org/abs/2603.01229

• License: mit

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 15,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": {
                "motors": [
                    "left_joint_0",
                    "left_joint_1",
                    "left_joint_2",
                    "left_joint_3",
                    "left_joint_4",
                    "left_joint_5",
                    "left_gripper",
                    "right_joint_0",
                    "right_joint_1",
                    "right_joint_2",
                    "right_joint_3",
                    "right_joint_4",
                    "right_joint_5",
                    "right_gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": {
                "motors": [
                    "left_joint_0",
                    "left_joint_1",
                    "left_joint_2",
                    "left_joint_3",
                    "left_joint_4",
                    "left_joint_5",
                    "left_gripper",
                    "right_joint_0",
                    "right_joint_1",
                    "right_joint_2",
                    "right_joint_3",
                    "right_joint_4",
                    "right_joint_5",
                    "right_gripper"
                ]
            }
        },
        "rmbench.segment_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.images.head_camera": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.left_camera": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.right_camera": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 500,
    "total_frames": 330389,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "aloha-agilex",
    "splits": {
        "train": "0:500"
    }
}

Citation

BibTeX:

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