---
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](https://github.com/RoboTwin-Platform/RoboTwin) benchmark tasks, generated with the RoboTwin simulator (MIT license) and packaged in LeRobot **v2.1** format. Used to train [FACT](https://huggingface.co/Bariona/fact-wam).

Paper: [FACT: Failure-Aware Causal Training for World-Action Models](https://huggingface.co/papers/2608.10232)  
Project page: [https://fact-wam.github.io](https://fact-wam.github.io)  
Code: [https://github.com/Bariona/FACT](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

```bash
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](https://github.com/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.