| --- |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - robotics |
| - rmbench |
| - hierarchical-planning |
| pretty_name: RMBench-preset-luna |
| --- |
| |
| # RMBench-preset-luna |
|
|
| RMBench training episodes (9 tasks, 450 episodes, 30 fps) with **dense high-level labels** produced by the TACOR offline annotator: |
| GPT-5.6 Luna (gpt-5.6-luna) reads the frames of each episode sampled every 25 frames as labelled images and labels every sampled frame given only |
| the task's **subtask preset** (the ordered list of subtask labels, no further task-specific guidance). Each tick carries the current |
| subtask, the running textual memory and the visual-memory operations (keyframe store / retrieval) that the online high-level planner |
| reproduces at inference time. The companion dataset |
| [RMBench-taco-luna](https://huggingface.co/datasets/Myungkyu/RMBench-taco-luna) carries the same episodes labelled under the |
| full task-specific context. |
|
|
| ## Layout |
|
|
| ``` |
| <task>/ LeRobot v2.1 dataset of one task (data/, meta/, videos/) |
| videos/chunk-000/observation.image.head_camera/ head camera |
| videos/chunk-000/observation.image.left_wrist/ left wrist camera |
| videos/chunk-000/observation.image.right_wrist/ right wrist camera |
| videos/chunk-000/observation.image.keyframe/ the retrieved keyframe shown to the low-level policy at each frame |
| meta/dense_annotation_map.json per-episode stored / retrieved frames and subtask spans |
| retrieval_map.json per task and episode: keyframe frame + frames at which it is retrieved |
| annotations/<task>/ep%06d.jsonl the raw per-tick labels (see below) |
| ``` |
|
|
| Per-frame features: `observation.state`, `action`, `subtask` (the label of the frame), `subtask_end`, the three camera views and the |
| keyframe slot. The `subtask` label changes at the tick boundaries of the annotation (tick = 25 frames). |
|
|
| ## Tasks |
|
|
| | task | episodes | |
| |---|---| |
| | battery_try | 50 | |
| | blocks_ranking_try | 50 | |
| | cover_blocks | 50 | |
| | observe_and_pickup | 50 | |
| | press_button | 50 | |
| | put_back_block | 50 | |
| | rearrange_blocks | 50 | |
| | swap_T | 50 | |
| | swap_blocks | 50 | |
|
|
| ## Annotation rows |
|
|
| One JSON object per tick (`decision_frame` = 0, 25, 50, ...): |
|
|
| ```json |
| {"episode_index": 1, "decision_frame": 0, "subtask": "Pick up both T-blocks.", |
| "updated_memory": "Initial state: red on left, blue on right.", "is_keyframe": true, |
| "caption": "Initial positions of red and blue T-blocks", "rag_query": ""} |
| ``` |
|
|
| `subtask` is one of the preset labels; `updated_memory` is the textual memory the planner carries; `is_keyframe` / `caption` store |
| the current frame in the visual-memory bank under that caption; `rag_query` retrieves the stored frame whose caption matches. The |
| prompts, the subtask presets and the annotator are part of the TACOR code release. |
|
|
