task_categories:
- robotics
tags:
- lerobot
- robotics
- rmbench
- hierarchical-planning
pretty_name: RMBench-taco-gemini
RMBench-taco-gemini
RMBench training episodes (9 tasks, 449 episodes, 30 fps) with dense high-level labels produced by the TACOR offline annotator: Gemini 3.7 Flash reads each whole episode as one video clip (one sample every 25 frames) and labels every sampled frame under the task-specific context (taco) induced for that task. 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-preset-gemini carries the same episodes labelled with the subtask preset only.
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 | 49 |
| 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, ...):
{"episode_index": 1, "decision_frame": 150, "subtask": "Place the red T-block at the right, tilted to the left.",
"updated_memory": "...", "is_keyframe": false, "caption": "", "rag_query": "both T-block poses before the swap"}
subtask is a line of the task's subtask catalogue with its placeholders filled; 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. Tasks with counters (press_button) add a counts object. The prompts, the task-specific
contexts and the annotator are part of the TACOR code release.