Search is not available for this dataset
observation.state list | action list | timestamp float32 0 104 | frame_index int64 0 1.56k | episode_index int64 0 49 | index int64 0 77.2k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
RoboTwin-Mem-record
这是用于 MomentMem 在 RoboTwin-MeM 上训练的完整数据快照，包含 VLA 执行器与 VLM 关键帧选择器共同使用的数据。共 8 个任务、400 条演示、1,200 个三视角视频、1,178 个关键帧区间，数据文件约 3.30 GB。
原始数据来自 EventVLA 发布的 ganlinyang/RoboTwin-MeM，固定版本为 f67a4ee99a20c65c86897b85d3f5309b205cc897。本仓库保留原始 LeRobot 2.1 文件，额外包含训练使用的 meta/keyframes.json。上游数据集声明的许可为 Apache-2.0；本仓库保留来源归属。
在线查看
- 页面上方的 Dataset Viewer 可按任务切换，查看逐帧状态、动作及帧号等数值记录。
- 在 Files and versions 中选择任务，可查看
meta/keyframes.json、任务文本及视频文件。 - 例如：Unhidden 任务的关键帧区间；第 0 条演示的主视角视频。视频使用原始 AV1 编码；如浏览器不支持，可下载后播放。
数据规模
| 任务 | 演示数 | 动作帧数 | 关键帧区间数 |
|---|---|---|---|
cover_blocks_hard |
50 | 77,228 | 200 |
find_seal_and_seal_stamp |
50 | 67,067 | 131 |
pick_objects_in_order |
50 | 56,156 | 150 |
pick_the_unhidden_block |
50 | 35,004 | 150 |
press_button_keyframe |
50 | 21,476 | 197 |
put_back_block_hard |
50 | 73,380 | 100 |
rearrange_blocks_hard |
50 | 43,942 | 50 |
reproduce_route |
50 | 70,845 | 200 |
| 合计 | 400 | 445,098 | 1,178 |
文件组织
lerobot_format/<task>/
data/chunk-000/episode_XXXXXX.parquet
videos/chunk-000/
observation.images.cam_high/episode_XXXXXX.mp4
observation.images.cam_left_wrist/episode_XXXXXX.mp4
observation.images.cam_right_wrist/episode_XXXXXX.mp4
meta/
info.json
episodes.jsonl
tasks.jsonl
keyframes.json
...
provenance/
source.json
training_data_manifest.json
keyframe_interval_generation_report.json
每个任务均保留 50 条演示，未在上传时删减或重新划分。训练/验证划分和历史采样由训练代码决定。本仓库不包含模型权重、模拟器资源或原始 HDF5；这些不属于当前训练所用的 LeRobot 数据。
数据含义
- 数据帧率：15 fps。三个相机视频均为 640 × 480、AV1 编码。
observation.state与action均为 14 维 Aloha 双臂关节表示：左臂 6 个关节 + 左夹爪，右臂 6 个关节 + 右夹爪。具体维度顺序见各任务meta/info.json。- 保留原始状态和绝对关节动作，不预先执行训练时的归一化、delta action 转换或图像缩放；这些由各模型的数据处理流程完成。
- 任务语言指令见
meta/tasks.jsonl；原始单点关键帧保留在meta/episodes.jsonl的keyframe_steps中。
关键帧区间的来源与限制
meta/keyframes.json 是当前训练使用的区间标注，由官方单点关键帧 k 按确定规则扩展：
press_button_keyframe：[k, k+5]，共 6 帧。- 其余 7 个任务：
[k-10, k+10]，共 21 帧。
采用 0-based 闭区间，包含首尾帧。生成时限制在轨迹边界内；本批 1,178 个区间均无需裁剪，也没有重叠。原始 keyframe_steps 完整保留。
这些区间是训练用的自动扩展标注，不代表逐帧人工审核得到的完整事件边界。source_keyframe_XXX 仅标识原始关键帧序号，不表示额外的语义事件标签。各文件中的 annotation_provenance 保留生成来源；其中历史服务器路径只是原始说明字段，不是下载或加载依赖。
下载与用于训练
from huggingface_hub import snapshot_download
root = snapshot_download(
repo_id="frenzyfreeze/RoboTwin-Mem-record",
repo_type="dataset",
local_dir="./RoboTwin-Mem-record",
)
本仓库直接使用统一的 lerobot_format/<task> 布局，无需恢复服务器上的绝对软链接：
- MomentMem VLM：数据根目录设为下载目录
RoboTwin-Mem-record，选择上述 8 个任务；训练代码读取其lerobot_format子目录。 - MomentMem VLA：数据根目录（
HF_LEROBOT_HOME/ROBOTWIN_DATASET_ROOT）设为RoboTwin-Mem-record/lerobot_format。
VLM 和 VLA 使用同一份视频与关键帧区间文件。仅靠本数据集不包含完整的训练程序与模型初始化权重，仍需使用对应的 MomentMem 训练代码和配置。
完整性
provenance/training_data_manifest.json 记录全部 1,664 个训练数据文件的相对路径、字节数与 SHA-256。上传前逐文件对照训练服务器上的快照核验，保留原始文件内容；仅将顶层目录从服务器上的 lerobot_2.1 整理为可直接用于两层训练的 lerobot_format。
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