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pretty_name: ProPriMem-State
tags:
- robotics
- memory
- state
- order
- recovery
---
# ProPriMem-State
21 tasks · 1,007 trajectories · 2,703 videos · 618 stage-annotation files.
| ID | Task | Trajectories | Source / domain |
|---|---|---:|---|
| S01 | [Cover and uncover blocks](State/01-cover_uncover_blocks/) | 50 | MINT-SJTU/ProPriMem · simulation |
| S02 | [Put a block back](State/02-put_back_block/) | 50 | MINT-SJTU/ProPriMem · simulation |
| S03 | [Move blocks to a green mat and back](State/03-place_block_mat/) | 50 | MINT-SJTU/ProPriMem · simulation |
| S04 | [Try battery orientations](State/04-battery_orientation_trials/) | 50 | MINT-SJTU/ProPriMem · simulation |
| S05 | [Try block arrangements](State/05-block_arrangement_trials/) | 50 | MINT-SJTU/ProPriMem · simulation |
| S06 | [Rearrange blocks](State/06-rearrange_blocks/) | 50 | MINT-SJTU/ProPriMem · simulation |
| S07 | [Pick and place a bowl once](State/07-pick_place_bowl_once/) | 50 | MINT-SJTU/ProPriMem · simulation |
| S08 | [Pick and place a bottle once](State/08-pick_place_bottle_once/) | 98 | MINT-SJTU/ProPriMem · simulation |
| S09 | [Swap two bowls](State/09-swap_two_bowls/) | 88 | MINT-SJTU/ProPriMem · simulation |
| S10 | [Rotate three bowls](State/10-rotate_three_bowls/) | 82 | MINT-SJTU/ProPriMem · simulation |
| S11 | [Put three coins into a piggy bank](State/11-put_three_coins_into_piggy_bank/) | 32 | EvoMind-PiperX · real robot |
| S12 | [Inspect four objects and return them](State/12-inspect_four_objects_and_return/) | 35 | EvoMind-PiperX · real robot |
| S13 | [Inspect three drawers](State/13-inspect_three_drawers/) | 35 | EvoMind-PiperX · real robot |
| S14 | [Weigh four objects and return them](State/14-weigh_four_objects_and_return/) | 35 | EvoMind-PiperX · real robot |
| S15 | [Inspect three test tubes](State/15-inspect_three_test_tubes/) | 49 | EvoMind-PiperX · real robot |
| S16 | [Press five buttons in any order](State/16-press_five_buttons_in_any_order/) | 35 | EvoMind-PiperX · real robot |
| S17 | [Pour water into three cups](State/17-pour_water_into_three_cups/) | 33 | EvoMind-PiperX · real robot |
| S18 | [Inspect five upside-down cups](State/18-inspect_five_upside_down_cups/) | 34 | EvoMind-PiperX · real robot |
| S19 | [Shake three sealed bottles](State/19-shake_three_sealed_bottles/) | 35 | EvoMind-PiperX · real robot |
| O15 | [Flip two cups from left to right with recovery](Order/15-flip_two_cups_left_to_right_with_recovery/) | 35 | EvoMind-PiperX · real robot · recovery |
| S20 | [Pour water into three cups with repeated pouring](State/20-pour_water_into_three_cups_with_repeated_pouring/) | 31 | EvoMind-PiperX · real robot · repeated-pouring anomaly |
## Format and splits
Each task under `State/` or `Order/` retains its original `metadata.json`, `metadata.jsonl`, videos and,
when present, stage annotations. Paths in each trajectory index are task-relative. Resolution,
frame rate and available camera views are preserved per trajectory; they are not uniform
across all source datasets. All views of a trajectory share its frozen split.
Dataset v1.4.1 · Split v1.4.1 · **803 train / 204 val**. Explicit sample lists in
[manifest.json](manifest.json) are authoritative. All surviving assignments are preserved.
## Sources and annotation status
S01–S10 are copied from [MINT-SJTU/ProPriMem](https://huggingface.co/datasets/MINT-SJTU/ProPriMem/tree/e04d7f2261cbff363b8ec3809a60cd5e6f2c7df7/State):
618 simulation trajectories with their original stage annotations. S01–S06 originate from
[TianxingChen/RMBench](https://huggingface.co/datasets/TianxingChen/RMBench); S07–S10 originate
from [htrbao/LIBERO-MEM_lerobot](https://huggingface.co/datasets/htrbao/LIBERO-MEM_lerobot).
Original source links, instructions, hashes and domain labels remain in each trajectory index.
The MINT repository is unchanged by this copy.
S11–S19 contain 323 real-robot PiperX trajectories collected on 2026-10-31, 2026-11-02 and
2026-11-03, with 969 videos at 1280×720 and 30 FPS. These recordings are **unannotated**:
`has_annotation=false`; stage boundaries and task-success labels are not inferred. The environment
camera is `main_view`, with wrist cameras `left_view` and `right_view`. Task names have no State
prefix. Raw robot state/action Parquet files are not included.
## Selection and validation
User-reviewed exclusions remain unchanged: piggy-bank batch `20261031_153227` #3/#15/#16 and
batch `20261031_161309` #18/#19/#20; tea batch `20261103_134047` #0/#1; upside-down-cup batch
`20261103_142808` #0. These refer to original source episode indices. The bottle task describes
three bottles. The test-tube task combines valid batches of 11 + 3 + 35 trajectories.
The 969 PiperX videos are frame-exact H.264 stream-copy cuts, checked by full decoding against
source frame counts, timestamps and decoded YUV pixels. Imported State files are copied without
re-encoding or changing annotations; hashes and frozen split assignments are verified.
## Order recovery addition
O15 adds 35 real-robot trajectories and 105 videos from the 2026-11-03 two-cup recovery task.
It belongs to **Order**, with `task_variant=recovery`. Including the S20 review exclusions below,
State contains 20 tasks / 972 trajectories; Order contains 1 task / 35 trajectories.
O15 retains its original files and 28 train / 7 val samples.
Flip the left cup over and back. While handling the right cup, knock over the left cup,
restore it, then finish flipping the right cup over and back. The user confirmed the actual
two-cup setup. The corrected text is stored in `source_instruction`; the original three-cup
text remains in `recorded_source_instruction`. Raw source recordings are unchanged.
All 35 reviewed trajectories are retained and unannotated. No recovery-stage boundaries or
success labels are inferred. The 105 new videos preserve 1280×720 at 30 FPS and exact source
frame boundaries, verified by full decoded-pixel, frame-count and timestamp checks.
## Repeated-pouring anomaly addition — 2026-11-05
S20 contains 31 real-robot trajectories (93 videos) of pouring water into three cups
with repeated pouring into the same cup. This is a **State anomalous variant**, not a
recovery task: `task_variant=repeated_pouring`, `anomaly_type=repeated_pouring_same_cup`,
`base_task_id=S17`. Keep it separate from normal demonstrations when selecting data.
The nominal instruction matches S17: "Pour water into each of three identical cups in any order."
The anomalous behavior is described in separate metadata fields; the original recorded task
text is retained in `recorded_source_instruction`. Manual review on 2026-11-06 excluded
source episodes `000007`, `000011`, `000015` and `000033`, including all three camera views
and their metadata entries. Original episode numbers are preserved. The remaining videos are
unannotated: stage/progress boundaries and per-episode success or failure labels have not
been assigned. The variant is based on the collector's description.
The retained S20 samples contain 25 train / 6 val with their original frozen assignments. Videos preserve
1280×720 at 30 FPS and exact source frame boundaries, verified by full decoded-frame,
timestamp and pixel comparisons. Retained videos and their split assignments are unchanged.
Raw LeRobot recordings are retained on the collection server; this export contains videos
and ProPriMem metadata, not the raw robot action/state Parquet files.
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