---
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


```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/
```


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:


```bash
pip install -U huggingface_hub
```


Download one variant:


```bash
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:


```bash
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


- 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)