Datasets:

Dexmal
/

robotwin2-full

license: cc
task_categories:
  - robotics
language:
  - en
tags:
  - robotics
  - robot-learning
  - bimanual-manipulation
  - imitation-learning
  - robotwin
  - robotwin2.0
pretty_name: RoboTwin 2.0

RoboTwin 2.0 Dataset

Dexdata format RoboTwin 2.0 dataset.

Download and Extract

If the dataset is uploaded as split tar archives:

cat robotwin2.tar.part-* | tar -xf -

After extraction, the dataset directory will be:

robotwin2.0/

Dataset Structure

robotwin2.0/
├── jsonl/
│   └── <task_name>/
│       ├── clean/
│       └── randomized/
└── video/
    └── <task_name>/
        ├── clean/
        └── randomized/

Each task directory contains two data variants:

clean: data generated in the clean/default setting
randomized: data generated with domain randomization

Citation

@article{chen2025robotwin,
  title={RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation},
  author={Chen, Tianxing and Chen, Zanxin and Chen, Baijun and Cai, Zijian and Liu, Yibin and Liang, Qiwei and Li, Zixuan and Lin, Xianliang and Ge, Yiheng and Gu, Zhenyu and others},
  journal={arXiv preprint arXiv:2506.18088},
  year={2025}
}