---
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.