| license: cc-by-nc-sa-4.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - lerobot | |
| - robotwin | |
| - bimanual-manipulation | |
| - visuomotor-policy | |
| # RobotWin v3 EEF (LeRobot v3.0) | |
| RobotWin 50-task bimanual benchmark, converted to LeRobot v3.0 with **lossless stream-copied H.264 video**. | |
| ## Format | |
| - **Per-task LeRobot v3.0 datasets** — each task is a subdirectory under `clean/` or `aug/` | |
| - **16D bimanual EEF**: left arm [xyz, qw, qx, qy, qz, gripper] + right arm [xyz, qw, qx, qy, qz, gripper] | |
| - **Quaternion**: wxyz, scalar-first | |
| - **State**: absolute pose. **Action**: absolute position + absolute quaternion + gripper | |
| - **3 cameras**: `cam_high` + `cam_left_wrist` + `cam_right_wrist`, 640×480 | |
| - **2 subsets**: `clean` (50 demos/task) and `aug` (500 demos/task), 100 total datasets | |
| - ~32K episodes, ~6M total frames | |
| - Raw values; use `{subset}/{task}/meta/norm_stats.json` for per-task stats | |
| ## Loading | |
| ```python | |
| from lerobot.datasets import LeRobotDataset | |
| ds = LeRobotDataset("GT-111/robotwin_v3_eef/clean/adjust_bottle-demo_clean_collect_200-50") | |
| ``` | |
| ## Acknowledgments | |
| Original dataset: robbyant/robotwin-clean-and-aug-lerobot (CC BY-NC-SA 4.0). | |