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Myungkyu
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RMBench-taco-gemini

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Robotics
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lerobot
robotics
rmbench
hierarchical-planning
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RMBench-taco-gemini / annotations /battery_try /ep000028.jsonl
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Myungkyu
dense-labelled RMBench episodes (TACOR release) part 1/6
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{"episode_index": 28, "decision_frame": 0, "subtask": "Place the left battery at the middle.", "updated_memory": "holding: left battery not yet placed in middle slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 25, "subtask": "Place the left battery at the middle.", "updated_memory": "holding: left battery moving toward slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 50, "subtask": "Place the left battery at the middle.", "updated_memory": "holding: left arm grasping left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 75, "subtask": "Place the left battery at the middle.", "updated_memory": "holding: left arm lifting battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 100, "subtask": "Place the left battery at the middle.", "updated_memory": "holding: left arm placing battery into left bay", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 125, "subtask": "Place the left battery at the middle.", "updated_memory": "holding: left gripper opening over left bay", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 150, "subtask": "Place the left battery at the middle.", "updated_memory": "advance evidence: <left battery seated AND left gripper risen clear>; holding: right battery not yet placed in slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 175, "subtask": "Place the right battery at the middle.", "updated_memory": "holding: right arm moving right battery toward slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 200, "subtask": "Place the right battery at the middle.", "updated_memory": "holding: right arm placing right battery into right bay", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 225, "subtask": "Place the right battery at the middle.", "updated_memory": "holding: right gripper releasing right battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 250, "subtask": "Flip the left battery.", "updated_memory": "advance evidence: <right battery seated AND right gripper risen clear>; holding: round 1 flip left battery starting", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 275, "subtask": "Flip the left battery.", "updated_memory": "holding: arm approaching left battery for flip", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 300, "subtask": "Flip the left battery.", "updated_memory": "holding: gripper grasping left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 325, "subtask": "Flip the left battery.", "updated_memory": "holding: lifting left battery to flip", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 350, "subtask": "Flip the left battery.", "updated_memory": "holding: reorienting left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 375, "subtask": "Flip the left battery.", "updated_memory": "holding: pressing left battery back into slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 400, "subtask": "Flip the left battery.", "updated_memory": "holding: releasing reoriented left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 425, "subtask": "Flip the left battery.", "updated_memory": "holding: left arm withdrawing clear of slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 450, "subtask": "Flip the left battery.", "updated_memory": "advance evidence: <left battery flipped AND arm withdrawn clear>; holding: round 2 flip right battery starting", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 475, "subtask": "Flip the right battery.", "updated_memory": "holding: arm reaching for right battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 500, "subtask": "Flip the right battery.", "updated_memory": "holding: gripper grasping right battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 525, "subtask": "Flip the right battery.", "updated_memory": "holding: lifting right battery out of slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 550, "subtask": "Flip the right battery.", "updated_memory": "holding: reorienting right battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 575, "subtask": "Flip the right battery.", "updated_memory": "holding: pressing right battery back into slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 600, "subtask": "Flip the right battery.", "updated_memory": "holding: releasing reoriented right battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 625, "subtask": "Flip the right battery.", "updated_memory": "holding: right arm withdrawing clear of slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 650, "subtask": "Flip the left battery.", "updated_memory": "advance evidence: <right battery flipped AND arm withdrawn clear>; holding: round 3 flip left battery starting", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 675, "subtask": "Flip the left battery.", "updated_memory": "holding: arm reaching toward left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 700, "subtask": "Flip the left battery.", "updated_memory": "holding: grasping left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 725, "subtask": "Flip the left battery.", "updated_memory": "holding: lifting left battery out", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 750, "subtask": "Flip the left battery.", "updated_memory": "holding: reorienting left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 775, "subtask": "Flip the left battery.", "updated_memory": "holding: inserting left battery into bay", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 800, "subtask": "Flip the left battery.", "updated_memory": "holding: pressing and releasing left battery", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 825, "subtask": "Flip the left battery.", "updated_memory": "holding: left arm withdrawing clear of slot", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 850, "subtask": "Flip the left battery.", "updated_memory": "advance evidence: <left battery flipped AND arm withdrawn clear>; episode completed", "is_keyframe": false, "caption": "", "rag_query": ""}
{"episode_index": 28, "decision_frame": 875, "subtask": "Flip the left battery.", "updated_memory": "advance evidence: <left battery flipped AND arm withdrawn clear>; episode completed", "is_keyframe": false, "caption": "", "rag_query": ""}