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X2Real-Dataset / README.md
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metadata 
license: apache-2.0
pretty_name: X2Real Dataset
tags:
  - robotics
  - lerobot
  - imitation-learning
  - simulation
  - mobile-manipulation
  - manipulation
  - x2real

X2Real Dataset

Fine-tuning datasets used in the experiments of the X2Real technical report, X2Real: An eXtensive Simulation Benchmark for Real-World Generalist Policies.

The repository contains four self-contained datasets in the validated LeRobot v2.0 format. Choose the embodiment and control space required by your experiment.

Dataset variants

Path Setting Control space State/action dimension Episodes Frames Rate
data/x2real-desktop-ee-lerobot-v2 Desktop simulation End effector 20D 10,491 4,066,988 20 fps
data/x2real-desktop-joint-lerobot-v2 Desktop simulation Joint 14D 10,491 4,066,988 20 fps
data/x2real-mobile-ee-lerobot-v2 Mobile manipulation End effector + mobile body 26D 3,069 4,260,099 20 fps
data/x2real-mobile-joint-lerobot-v2 Mobile manipulation Joint + mobile body 20D 3,069 4,260,099 20 fps

Each variant includes three camera streams: front view, left wrist, and right wrist. Field definitions, coordinate conventions, task information, and known limitations are documented in the README inside each dataset directory.

Repository layout 

X2Real-Dataset/
├── README.md
├── scripts/
│   └── download_x2real_dataset.py
└── data/
    ├── x2real-desktop-ee-lerobot-v2/
    ├── x2real-desktop-joint-lerobot-v2/
    ├── x2real-mobile-ee-lerobot-v2/
    └── x2real-mobile-joint-lerobot-v2/

Every directory under data/ is an independent LeRobot v2.0 dataset root containing its own README.md, checksums.sha256, meta/, data/, and videos/.

Download

Install the Hugging Face client:

pip install -U huggingface_hub

Download one variant:

python scripts/download_x2real_dataset.py desktop-ee --output ./X2Real-Dataset

Use desktop-joint, mobile-ee, mobile-joint, or all in place of desktop-ee. The selected dataset is written under OUTPUT/data/ without changing its LeRobot layout.

To verify a downloaded variant:

cd data/x2real-desktop-ee-lerobot-v2
sha256sum -c --quiet checksums.sha256

The repository root is a container for four schemas, not a single LeRobot dataset root. Point LeRobot tooling at one directory under data/.

Project links