---
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 | supplement | total | trimmed |
| --- | ---: | ---: | ---: | ---: |
| rearrange_blocks | 50 | 450 | 500 | 0 |
| observe_and_pickup | 50 | 450 | 500 | 0 |
| put_back_block | 200 | 300 | 500 | 0 |
| swap_blocks | 200 | 300 | 500 | 9 |
| swap_T | 50 | 450 | 500 | 0 |

Total episodes: `2500`.

`trimmed` counts extra collected episodes that are kept locally but excluded from this 500-per-task export.

## Split Details

```text
rearrange_blocks:
  base: demo_clean (50)
  supplement: demo_clean_supp_to500_diverse_20260704 (450)
observe_and_pickup:
  base: demo_clean (50)
  supplement: demo_clean_supp_to500_diverse_20260704_observe_and_pickup (450)
put_back_block:
  base: demo_clean_200 (200)
  supplement: demo_clean_supp_to500_diverse_20260704_put_back_block (300)
swap_blocks:
  base: demo_clean_200 (200)
  supplement: demo_clean_supp_to500_diverse_20260704_swap_blocks, demo_clean_supp_to500_diverse_20260704_swap_blocks_b (300)
swap_T:
  base: demo_clean (50)
  supplement: 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)
```

## 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.