root string | codebase_version string | total_episodes_info int64 | total_frames_info int64 | episode_rows int64 | episode_length_sum int64 | dataset_len int64 | data_files int64 | video_files int64 | unique_video_files_by_key dict | episodes_per_data_file_max int64 | episodes_per_video_file_max_by_key dict | video_path_template string | data_path_template string | samples list |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
/home/zrgong/projects/RMBench-Plus-Plus/generated_data_lerobot_v3_per_episode/press_button_vanish | v3.0 | 100 | 61,115 | 100 | 61,115 | 61,115 | 100 | 400 | {
"observation.images.head_camera": 100,
"observation.images.left_camera": 100,
"observation.images.right_camera": 100,
"observation.images.front_camera": 100
} | 1 | {
"observation.images.head_camera": 1,
"observation.images.left_camera": 1,
"observation.images.right_camera": 1,
"observation.images.front_camera": 1
} | videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 | data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet | [
{
"index": 0,
"episode_index": 0,
"frame_index": 0,
"observation_state_shape": [
14
],
"action_shape": [
14
],
"image_shapes": {
"observation.images.head_camera": [
3,
240,
320
],
"observation.images.left_camera": [
3,
... |
RMBench++ Press Button Vanish v1.1
This dataset contains 100 RT-rendered scripted-expert demonstrations for the
RMBench++ press_button_vanish training split.
At the beginning of each episode, the policy must keep both arms and grippers still while observing two numbered targets. After the cards become blank, the left arm must reproduce both remembered counts on the left and middle counting buttons. The right arm then presses confirm once. The first registered confirm edge is irreversible.
Canonical task prompt
Each number card shows how many successful presses its counting button requires. At the start, keep both arms and grippers still and memorize both targets. After the cards go blank, use the left arm to complete both remembered totals, then confirm once with the right arm.
The same prompt is used verbatim for training and evaluation; only the frozen
seed ranges differ. Version v1.1.0 replaces the prompt paraphrases embedded in
v1.0.0. Robot trajectories and videos are unchanged.
Dataset contents
- 100 episodes using the frozen training seeds 1 through 100.
- 61,115 frames at 30 FPS.
- One Parquet file per episode and one H.264 MP4 per episode per camera.
- Native RMBench 14D
observation.stateand 14Daction: six left-arm joints, left gripper, six right-arm joints, right gripper. - Policy views:
head_camera,left_camera, andright_camera, each RGB 320 x 240.front_camerais included for QA and visualization and is not a default policy input in the v1.1 protocol. - Per-frame episode seed, public prompt provenance, and JSON-encoded
rmbench_plusaudit metadata.
The embedded meta/rmbench_plus_manifest.json records the protocol version and
the disjoint training/evaluation seed ranges. This repository contains training
demonstrations only; it does not contain held-out evaluation rollouts.
Loading
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset(
repo_id="zrgong/rmbench-plus-plus-press-button-vanish",
video_backend="pyav",
)
Validation and provenance
The uploaded tree passed the RMBench++ LeRobot v3 validator with:
codebase_version == "v3.0"- 100 episode metadata rows
- 100 data Parquet files
- 400 video files across four camera keys
- 14D state and action reads through
LeRobotDataset - exact seeds 1 through 100
- 100/100 scripted-expert confirmations successful
The canonical prompt contract, manifest, converter, and validator are pinned at
RMBench++ code commit b36949dcb0d2cf0ca53427c9f28d2aec0f4c97ab.
These demonstrations are qualitative and training evidence from the scripted expert. They are not closed-loop policy evaluation results. RMBench++ v1.1 is a pilot protocol, not a general-memory leaderboard.
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