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license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- robotwin
- rmbench
- chainvla
- imitation-learning
---
# RMBench ChainVLA 5-Task 500 Diverse Dataset
This dataset packages five RMBench tasks with approximately 500 demonstrations per task for
ChainVLA/X-VLA multi-task imitation learning.
Repository: `mmlab-franka/RMBench-ChainVLA-5Task-500-Diverse`
## Contents
| task | base split | base episodes | supplement split | supplement episodes | total |
| --- | --- | ---: | --- | ---: | ---: |
| rearrange_blocks | demo_clean | 50 | demo_clean_supp_to500_diverse_20260704 | 450 | 500 |
| observe_and_pickup | demo_clean | 50 | demo_clean_supp_to500_diverse_20260704_observe_and_pickup | 450 | 500 |
| put_back_block | demo_clean_200 | 200 | demo_clean_supp_to500_diverse_20260704_put_back_block | 300 | 500 |
| swap_blocks | demo_clean_200 | 200 | demo_clean_supp_to500_diverse_20260704_swap_blocks, demo_clean_supp_to500_diverse_20260704_swap_blocks_b | 300 | 500 |
| swap_T | demo_clean | 50 | demo_clean_supp_to500_diverse_20260704_swap_T_a, demo_clean_supp_to500_diverse_20260704_swap_T_b, demo_clean_supp_to500_diverse_20260704_swap_T_c, demo_clean_supp_to500_diverse_20260704_swap_T_d, demo_clean_supp_to500_diverse_20260704_swap_T_e | 450 | 500 |
Total episodes: `2500`.
## Layout
```text
data/<task>/<split>/data/episode*.hdf5
data/<task>/<split>/video/episode*.mp4
data/<task>/<split>/instructions/episode*.json
data/<task>/<split>/seed.txt
data/<task>/<split>/scene_info.json
data/<task>/<split>/language_annotation.json
metas/<task>.json
metas/rmbench500_diverse_20260704_train_meta.json
```
The temporary `_traj_data` planning cache and local collection logs are intentionally excluded.
## Training Meta
Use:
```text
metas/rmbench500_diverse_20260704_train_meta.json
```
Paths in the uploaded meta are relative to the dataset repository root.
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