youtudou/willow-ember-1027

RoboTwin 2.0 failure-recovery demonstrations

Download as one file: robotwin_recovery.zip holds this whole repository (README and every dataset, same layout), stored without compression:

hf download youtudou/willow-ember-1027 robotwin_recovery.zip --repo-type dataset --local-dir .
unzip robotwin_recovery.zip

40 tasks, one complete LeRobot v2.1 dataset per folder (recovery/<task>/: meta/, data/, videos/): aloha-agilex, 14-D observation.state and action (joint targets, aloha order), 50 fps, three 240 x 320 AV1 videos (cam_high, cam_left_wrist, cam_right_wrist), RoboTwin's seen instruction templates.

Each episode starts in a state where the pi0.5 policy failed or was about to fail and shows a scripted recovery that completes the stage; every set was checked by sampled review. Rendered in RoboTwin 2.0 (stable_2.0) from the recorded simulator states. The policy's own rollouts of all 50 tasks are in youtudou/slate-harbor-1027. The 19 tasks also in youtudou/cedar-drift-1025 (folder v2_20261025) are the same data; do not train on both copies together.

task	episodes	frames
beat_block_hammer	399	8028
blocks_ranking_rgb	1689	123873
blocks_ranking_size	853	119596
click_alarmclock	439	15892
click_bell	1739	40873
dump_bin_bigbin	402	24565
handover_block	645	50047
handover_mic	182	11206
hanging_mug	1327	108349
move_can_pot	543	57134
move_pillbottle_pad	382	41346
move_playingcard_away	194	14106
move_stapler_pad	825	34717
open_microwave	1995	644809
pick_diverse_bottles	308	26213
pick_dual_bottles	181	12917
place_a2b_left	1110	133959
place_a2b_right	333	41191
place_bread_basket	1114	69696
place_bread_skillet	811	53043
place_burger_fries	445	58864
place_can_basket	1228	196738
place_cans_plasticbox	2584	253557
place_container_plate	107	11989
place_dual_shoes	1620	136508
place_fan	1399	119022
place_mouse_pad	2167	129484
place_object_basket	1381	210417
place_object_scale	1289	139515
place_object_stand	322	36471
place_phone_stand	1367	120312
press_stapler	178	6326
put_bottles_dustbin	833	147328
put_object_cabinet	443	49019
rotate_qrcode	241	17331
scan_object	958	50307
stack_blocks_three	327	21941
stack_bowls_three	204	9459
stamp_seal	411	17667
turn_switch	917	33869
total	33892	3397684