qiuly/Mem-0-m1mix-dataset-RMBench

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 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`.

Summary

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)

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

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`, 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.