metadata
license: mit
task_categories:
- robotics
pretty_name: RoboTwin 2.0 demonstrations (LeRobot v2.1)
tags:
- robotwin
- lerobot
- manipulation
- bimanual
RoboTwin 2.0 Demonstrations (LeRobot v2.1)
Expert demonstrations for the 50 RoboTwin 2.0 benchmark tasks, generated with the RoboTwin simulator (MIT license) and packaged in LeRobot v2.1 format. Used to train FACT.
Paper: FACT: Failure-Aware Causal Training for World-Action Models
Project page: https://fact-wam.github.io
Code: https://github.com/Bariona/FACT
Contents
Single archive robotwin-v2.tar (84.5 GB, ~169 GB extracted).
- sha256:
f3392ca1dae75e7eab937094d8b9d118c622081d70eeed9655f9307b27b61f97
datasets/RoboTwin/
Clean/<task_name>/ # demo_clean scenes — 50 tasks × 50 episodes
Randomized/<task_name>/ # demo_randomized scenes — 50 tasks × 50 episodes
Each <task_name>/ is a LeRobot v2.1 dataset directory (meta/, data/, videos/).
Schema
- Robot: bimanual Aloha (
robot_type: aloha), 14-DOF state/action (6 joints + gripper per arm), 15 fps - Features:
observation.state,action,observation.images.cam_high(640×480),observation.images.cam_left_wrist,observation.images.cam_right_wrist, plus LeRobot index/timestamp fields - Language instruction per episode in
meta/
Usage
huggingface-cli download Bariona/robotwin-v2 robotwin-v2.tar \
--repo-type dataset --local-dir ./datasets
tar -xf ./datasets/robotwin-v2.tar -C ./datasets
Provenance & license
Trajectories were collected with the RoboTwin 2.0 expert data pipeline (RoboTwin-Platform/RoboTwin, MIT License, © 2025 Tianxing Chen) and converted to LeRobot v2.1. Redistributed under MIT in accordance with the upstream license. If you use this data, please cite RoboTwin.