| --- |
| license: apache-2.0 |
| pretty_name: X2Real Dataset |
| tags: |
| - robotics |
| - lerobot |
| - imitation-learning |
| - simulation |
| - mobile-manipulation |
| - manipulation |
| - x2real |
| --- |
| |
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| # X2Real Dataset |
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| Fine-tuning datasets used in the experiments of the X2Real technical report, *X2Real: An eXtensive Simulation Benchmark for Real-World Generalist Policies*. |
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| The repository contains four self-contained datasets in the validated LeRobot v2.0 format. Choose the embodiment and control space required by your experiment. |
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| ## Dataset variants |
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| | 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 | |
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| 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. |
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| ## Repository layout |
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| ```text |
| 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/ |
| ``` |
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| Every directory under `data/` is an independent LeRobot v2.0 dataset root containing its own `README.md`, `checksums.sha256`, `meta/`, `data/`, and `videos/`. |
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| ## Download |
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| Install the Hugging Face client: |
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| ```bash |
| pip install -U huggingface_hub |
| ``` |
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| Download one variant: |
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| ```bash |
| python scripts/download_x2real_dataset.py desktop-ee --output ./X2Real-Dataset |
| ``` |
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| 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. |
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| To verify a downloaded variant: |
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| ```bash |
| cd data/x2real-desktop-ee-lerobot-v2 |
| sha256sum -c --quiet checksums.sha256 |
| ``` |
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| The repository root is a container for four schemas, not a single LeRobot dataset root. Point LeRobot tooling at one directory under `data/`. |
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| ## Project links |
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| - Paper: [X2Real: An eXtensive Simulation Benchmark for Real-World Generalist Policies](https://arxiv.org/abs/2609.27449) |
| - Policy runtime: [Policy Space](https://github.com/X-Square-Robot/policy-space) |
| - Simulation client: [ManaEnv Client](https://github.com/X-Square-Robot/x2real) |
| - Simulation assets: [X2Real Assets](https://huggingface.co/datasets/x-square-robot/x2real-assets) |
| - Cloud platform: [X2Real Cloud Platform](https://developer.x2robot.com/developer/platform) |
| - License: [Apache License 2.0](LICENSE) |
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