Traly/Robotwin2.0-lerobot

RoboTwin2.0 - LeRobot v3.0

RoboTwin2.0 converted to LeRobot v3.0 format. Contains both joint-space and end-effector (EE) pose data for bimanual manipulation across 5 robot embodiments.

Dataset Statistics

Episodes	114,001
Frames	18,709,206
Tasks	50
Embodiments	5
FPS	30
Format	LeRobot v3.0 (Parquet + MP4)
Size	~20 GB

Embodiments

Embodiment	Episodes	DOF (per arm)
Franka	22,501	7+1
ARX-X5	24,500	6+1
Aloha-AgileX	25,000	6+1
Piper	18,500	6+1
UR5	23,500	6+1

All robots are bimanual (dual-arm). Each arm has joint_dim + gripper(1) DOF.

Features

Feature	Shape	Description
observation.state	[16]	Joint state: left_joint(7) + left_grip(1) + right_joint(7) + right_grip(1)
observation.state_ee	[16]	EE pose: left_xyz(3) + left_quat(4) + left_grip(1) + right(8)
observation.embodiment_id	[5]	One-hot embodiment vector
action	[16]	Next-frame joint state (absolute)
action_ee	[16]	Next-frame EE pose (absolute)
observation.images.head	[240, 320, 3]	Head camera (video)
observation.images.left_wrist	[240, 320, 3]	Left wrist camera (video)
observation.images.right_wrist	[240, 320, 3]	Right wrist camera (video)
observation.images.front	[240, 320, 3]	Front camera (video, not all embodiments)

Conventions

• Joint state: Padded to 7 DOF per arm (zero-padded for 6-DOF robots)
• EE quaternion: [w, x, y, z] format (scalar first)
• Gripper: [0, 1], where 1 = open

Tasks (50)

Click to expand full task list

adjust_bottle, beat_block_hammer, blocks_ranking_rgb, blocks_ranking_size, click_alarmclock, click_bell, dump_bin_bigbin, grab_roller, handover_block, handover_mic, hanging_mug, lift_pot, move_can_pot, move_pillbottle_pad, move_playingcard_away, move_stapler_pad, open_laptop, open_microwave, pick_diverse_bottles, pick_dual_bottles, place_a2b_left, place_a2b_right, place_bread_basket, place_bread_skillet, place_burger_fries, place_can_basket, place_cans_plasticbox, place_container_plate, place_dual_shoes, place_empty_cup, place_fan, place_mouse_pad, place_object_basket, place_object_scale, place_object_stand, place_phone_stand, place_shoe, press_stapler, put_bottles_dustbin, put_object_cabinet, rotate_qrcode, scan_object, shake_bottle, shake_bottle_horizontally, stack_blocks_three, stack_blocks_two, stack_bowls_three, stack_bowls_two, stamp_seal, turn_switch

Each task uses the randomized_500 variant (domain-randomized, up to 500 episodes per embodiment).

Source

Converted from TianxingChen/RoboTwin2.0 HDF5 data using parallel conversion with per-task checkpointing.

Citation

@article{mu2024robotwin,
  title={RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins},
  author={Mu, Yao and Chen, Tianxing and Peng, Shijia and Chen, Zanxin and Gao, Zeyu and Zou, Yude and Lin, Lunkai and Xie, Zhiqiang and Luo, Ping},
  journal={arXiv preprint arXiv:2409.02920},
  year={2024}
}

Local metadata repair

Revision 20260914-raw-stats-fp64-wxyz-v1 (2026-09-14T05:54:41.087390+00:00): corrected the quaternion convention to wxyz and recomputed raw numeric means and population standard deviations from all 18,709,206 frames using stable float64 accumulation. Raw min/max/count and canonical meta/rotation_stats.json were preserved; Parquet and video data were not rewritten. The source inventory, original metadata backups, and verification receipt are at /data/dev/code/lerobot/continue_dlm/experiments/results/reports/data_quality/20260914_cdlm_mask_robotwin_fix/robotwin/repair_receipt.json.