---
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.