RoboMemArena

数据集文件元信息以及数据文件，请浏览“数据集文件”页面获取。

当前数据集卡片使用的是默认模版，数据集的贡献者未提供更加详细的数据集介绍，但是您可以通过如下GIT Clone命令，或者ModelScope SDK来下载数据集

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Task Categories

This dataset contains four categories of tasks:

Category	Description	Task IDs
Multi-Sequence	Tasks requiring execution of multiple sequential sub-steps	Task1, Task2, Task3, Task22
Multi-Occlusion	Tasks involving occluded or hidden objects	Task4, Task5, Task11, Task12, Task13, Task14, Task17, Task20, Task21, Task23, Task24
Multi-Counting	Tasks requiring repeated actions, such as pouring twice	Task6, Task7, Task8, Task9, Task10, Task15, Task16
Multi-Transferring	Tasks involving transferring objects between locations	Task18, Task19, Task25, Task26

Task Table

Table 6: Benchmark task descriptions. The complete benchmark task table is organized into four task-suite-specific tables.

Multi-Object Transferring

Task Name	Memory Type	Avg. #Steps	Task Challenge	Brief Description
Transfer Chocolate Butter(Task26)	T	866	transferring	Pick and place chocolate and butter from plate1 to plate2, respectively.
Transfer Butter Cream(Task25)	T	779	transferring	Pick and place butter and cream from plate1 to plate2, respectively.
Transfer chocolate butter(Task18)	T	779	transferring	Pick and place chocolate and butter from cabinet1 to cabinet2, respectively.
Transfer Sauce Milk Juice(Task19)	T	1265	transferring	Pick and place tomato sauce, milk, and orange juice from cabinet1 to cabinet2.

Multi-Object Occlusion

Task Name	Memory Type	Avg. #Steps	Task Challenge	Brief Description
Put Butter in Not-Empty Drawer(Task4)	O	1020	occlusion	Open all drawers in order. Put butter into the drawer that already contains an object.
Put Butter in Empty Drawer(Task5)	O	1806	occlusion	Open all drawers in order. Put butter into the empty drawer.
Put Cookies Butter into Drawer Respectively(Task11)	O + C	1835	occlusion, multi-placement	Open all drawers in order. Put cookies into the top drawer and put butter into another drawer.
Put Cookies Chocolate into Middle Drawer(Task12)	O	1370	occlusion	Open all drawers in order. Put cookies into the middle drawer and then put chocolate into the same drawer.
Put Butter Cookies into Middle Drawer(Task13)	O	1377	occlusion	Open all drawers in order. Put butter into the middle drawer and then put cookies into the same drawer.
Put Cookies Chocolate into Drawer Respectively(Task14)	O	1832	occlusion, multi-placement	Open all drawers in order. Put cookies into the top drawer and put chocolate into another drawer.
Put Butter Chocolate into Middle Drawer(Task17)	O	1502	occlusion	Open all drawers in order. Put butter into the middle drawer and then put chocolate into the same drawer.
Put Cookies Chocolate into Microwave(Task20)	O	1195	occlusion	Put cookies into the microwave and then put chocolate into the location where the cookies were placed.
Put Butter Chocolate into Microwave(Task21)	O	1175	occlusion	Put butter into the microwave and then put chocolate into the location where the butter was placed.
Put Cream Popcorn into Microwave(Task23)	O	1175	occlusion	Put cream into the microwave and then put popcorn into the location where the cream was placed.
Put Cookies Popcorn into Microwave(Task24)	O	1195	occlusion	Put cookies into the microwave and then put popcorn into the location where the cookies were placed.

Multi-Object Counting

Task Name	Memory Type	Avg. #Steps	Task Challenge	Brief Description
Pour Sauce on Cookies x2 Place Sauce into Drainer(Task6)	C + O	624	counting, occlusion	Pour tomato sauce over cookies twice and place the sauce bottle into the bowl drainer.
Pour Sauce on Frypan x2 Place Sauce into Drainer(Task7)	C + O	537	counting, occlusion	Pour tomato sauce over the frypan twice and place the sauce bottle into the bowl drainer.
Pour Sauce Twice over Chocolate in Frypan Place Sauce into Drainer(Task8)	C	910	counting	Pick and place chocolate into the frypan, pour tomato sauce over it twice, then place the sauce bottle into the bowl drainer.
Pour Sauce x2 over Butter in Frypan(Task9)	C	958	counting	Put butter into the frypan and pour sauce over it twice.
Pour Wine into Mug Twice(Task10)	C	472	counting	Pour wine into the mug twice.
Pour Milk Twice over Butter in Frypan(Task15)	C	1055	counting	Pick and place butter into the frypan, then pour milk over it twice.
Pour Milk x2 over Mug Place Milk into Drainer(Task16)	C + O	594	counting, occlusion	Pick milk from the table, pour it into the mug twice, then place the milk container into the bowl drainer.

Multi-Object Sequence

Task Name	Memory Type	Avg. #Steps	Task Challenge	Brief Description
Put Cookies Sauce into Basket in Order(Task1)	S	742	sequence	Pick and place cookies into the basket, then pick and place tomato sauce into the same basket.
Put Butter Popcorn into Basket in Order(Task2)	S	708	sequence	Pick and place butter into the basket, then pick and place popcorn into the same basket.
Put Cream Chocolate into Basket in Order(Task3)	S	708	sequence	Pick and place cream into the basket, then pick and place chocolate into the same basket.
Pour Sauce x2 Put Cookies into Microwave（Task22）	S	1565	sequence	Pour tomato sauce over cookies twice, then put the cookies into the microwave.