---
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](https://huggingface.co/datasets/Myungkyu/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, ...):

```json
{"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.