--- license: mit task_categories: - robotics tags: - robocasa - robosuite - imitation-learning - memory - manipulation --- # ReMemBench-Migrated Regenerated version of the [ReMemBench dataset](https://huggingface.co/datasets/Rutav/ReMemBench-Dataset), replayed in the **latest RoboCasa (v1.0.1 / RoboCasa365, robosuite 1.5.2, mujoco 3.3.1)** environment. The original ReMemBench demos were recorded in RoboCasa 0.2.0; this dataset replays each demonstration's recorded MuJoCo states through the migrated RoboCasa 1.0.1 memory-task environments and re-derives observations and images. ## Contents 13 memory tasks, 25 source files, **421 demonstrations**, all successful. Layout mirrors the original: `//{demo.hdf5, demo_im128_notp.hdf5}`. - **`demo.hdf5`** — robomimic low-dim convention (`data/demo_/`): `states`, `actions`, `action_dict/`, `action_infos/`, `observations/` (low-dim), `policy_mode`, `initial_obj_qpos/`; per-demo attrs `ep_meta`/`initial_qpos`/`model_file`/ `non_robot_qpos_idx`/`num_samples`. - **`demo_im128_notp.hdf5`** — robomimic image convention (`data/__demo_/`): adds 128×128 RGB from **4 cameras** (`robot0_agentview_center`, `robot0_agentview_left`, `robot0_agentview_right`, `robot0_eye_in_hand`) plus `rewards`/`dones`. RGB only (no segmentation / bbox suite). Tasks: MemFruitInSinkLeftFar, MemFruitInSinkRightFar, MemHeatPot, MemHeatPotMultiple, MemPutKBowlInCabinet, MemPutKBreadInMicrowave, MemRetrieveOilsFromCounter{LL,LR,RL,RR}, MemWashAndReturn{Left,Right,SameLocation}. ## Notes - **State-faithful replay:** trajectories are the original recorded states; visuals reflect the migrated RoboCasa 1.0.1 env. - **Container-lift correction:** containers (plates/bowls) whose recorded z clipped through the thinner 1.0.1 counter slabs are lifted so they rest on the surface; this lift is baked into the saved `states` so states/obs/images agree. All other qpos are unchanged. - Some 0.2.0 fixtures fall back to 1.0.1 defaults, so scenes are visually close but not pixel-identical to the originals. The migrated task environments live in [yilin-wu98/robocasa](https://github.com/yilin-wu98/robocasa) (branch `feat/halo-memory-tasks`).