diff --git a/README.md b/README.md index 7e4168fb433a209c170cc73b5590795651987b08..dc3413e82595f6f03f787f99c1778fc5bdac4309 100644 --- a/README.md +++ b/README.md @@ -2,36 +2,115 @@ license: cc-by-nc-sa-4.0 task_categories: - robotics +- other +language: +- en tags: -- lerobot +- synthetic +- bimanual +- manipulation +- LeRobot +- v3 +- end-effector-pose - robotwin -- bimanual-manipulation -- visuomotor-policy +- aloha +size_categories: +- n<1T +pretty_name: "RoboTwin (LeRobot v3 EE)" +viewer: false --- -# RobotWin v3 EEF (LeRobot v3.0) +# RoboTwin v3 EEF (LeRobot v3) -RobotWin 50-task bimanual benchmark, converted to LeRobot v3.0 with **lossless stream-copied H.264 video**. +This is a **LeRobot v3** format conversion of the [RoboTwin](https://github.com/RoboTwin-Platform/RoboTwin) bimanual benchmark (source: [robbyant/robotwin-clean-and-aug-lerobot](https://huggingface.co/datasets/robbyant/robotwin-clean-and-aug-lerobot)), reorganized into a canonical **bimanual 16D end-effector (EE) pose** representation. 50 Hz, 50 tasks, two subsets (`clean/` 50 demos/task and `aug/` 500 demos/task). -## Format +## Original Dataset -- **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 +**RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation** -## Loading +> Chen, T., et al. *RoboTwin 2.0*. arXiv:2506.18088, 2025. + +- **Original Source**: https://huggingface.co/datasets/robbyant/robotwin-clean-and-aug-lerobot +- **Project Website**: https://robotwin-platform.github.io +- **GitHub**: https://github.com/RoboTwin-Platform/RoboTwin + +RoboTwin is a bimanual manipulation benchmark on an Aloha-AgileX dual-arm robot. This conversion covers the 50 official tasks in both the clean demonstration split and the domain-randomized augmented split. + +## License + +This dataset is released under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/), consistent with the original RoboTwin LeRobot release. + +## Conversion Details + +### What we changed + +1. **Canonical Bimanual EE Pose Representation**: Proprioception and actions are a single **16D bimanual EE pose vector** — per arm: position xyz (metres) + quaternion in scalar-first **WXYZ** order + gripper, left arm first then right arm. + +2. **Next-Observation-Absolute Actions**: Row `t` stores the pose that observation row `t+1` attains. Terminal rows have no next observation; they are marked `transition_action_valid = false` and must not be supervised. + +3. **Unified camera keys**: Three 640×480 RGB views as `observation.images.head` (overhead), `observation.images.wrist_left`, and `observation.images.wrist_right`. Videos are lossless stream-copied from the source; they are not re-encoded. + +4. **LeRobot v3 Format**: Per-task datasets with sharded MP4 video and Parquet frame data at 50 Hz. + +### What we preserved + +- All 50 tasks in both `clean/` and `aug/` +- Episode structure and task labels +- Frame-level timestamps +- Source numeric poses (WXYZ, next-observation-absolute) + +### Observation and action convention + +- `observation.state`: 16D bimanual end-effector pose — per arm `[x, y, z, qw, qx, qy, qz, gripper]`, left arm (dims 0–7) then right arm (dims 8–15). Gripper is continuous with 0 = closed and 1 = open. +- `action`: 16D absolute bimanual end-effector pose with the same layout; row `t` is the pose attained by observation row `t+1`. +- `transition_action_valid` is `true` exactly on rows that have a contiguous next observation in the same episode; the last row of each episode is `false`. +- Cameras: `observation.images.head`, `observation.images.wrist_left`, `observation.images.wrist_right`. + +### Layout + +Each task is a self-contained LeRobot v3 dataset under `clean/` or `aug/`: + +``` +robotwin_v3_eef/ +├── clean// # 50 demos / task +│ ├── data/chunk-*/file-*.parquet +│ ├── videos/observation.images.{head,wrist_left,wrist_right}/chunk-*/file-*.mp4 +│ └── meta/ +│ ├── info.json +│ ├── tasks.parquet +│ ├── episodes/chunk-*/file-*.parquet +│ ├── stats.json +│ └── norm_stats.json # post-pipeline normalization stats +├── aug// # 500 demos / task (same layout) +└── README.md +``` + +## Usage ```python from lerobot.datasets import LeRobotDataset -ds = LeRobotDataset("GT-111/robotwin_v3_eef/clean/adjust_bottle-demo_clean_collect_200-50") +dataset = LeRobotDataset( + "GT-111/robotwin_v3_eef", + root="clean/adjust_bottle-demo_clean_collect_200-50", +) +``` + +Per-task `meta/norm_stats.json` files are computed in the training transform space (canonical WXYZ → Rot6D → delta, before padding). The `__norm_stats__` provenance block is kept only in local trees and is stripped from this Hub projection. + +## Citation + +If you use this dataset, please cite the original RoboTwin paper: + +```bibtex +@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 others}, + journal={arXiv preprint arXiv:2506.18088}, + year={2025} +} ``` -## Acknowledgments +## Version History -Original dataset: robbyant/robotwin-clean-and-aug-lerobot (CC BY-NC-SA 4.0). +- **v3.0** (current): LeRobot v3 conversion with canonical 16D bimanual EE pose layout, next-observation-absolute actions, unified camera keys, and terminal-row validity mask diff --git a/aug/adjust_bottle-aloha-agilex_randomized_500-1000/data/chunk-000/file-000.parquet b/aug/adjust_bottle-aloha-agilex_randomized_500-1000/data/chunk-000/file-000.parquet index e0aac5cab1bc6f8bb8f378f6604718e9dc97f576..8747246bcc9ab87ebcc843037af2eb55c854263e 100644 --- a/aug/adjust_bottle-aloha-agilex_randomized_500-1000/data/chunk-000/file-000.parquet +++ b/aug/adjust_bottle-aloha-agilex_randomized_500-1000/data/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0a7d3db0ed98619747bcf5b9cf66da1870000f6e2497aff0a544b2b4cd31f578 -size 6122500 +oid sha256:9b6175326499328e019c74733744a65742f3bb9eea833bb2212113f6f30c65a0 +size 5002514 diff --git a/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/episodes/chunk-000/file-000.parquet b/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/episodes/chunk-000/file-000.parquet index 015797d6fdcc3153f6484b74d1f7510bd296430e..3b039f71ea6b26fedd44d25864a6ce08135dcc70 100644 --- a/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/episodes/chunk-000/file-000.parquet +++ b/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/episodes/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:97ed1111c0a50b8c5c55ab83bcba82fb4f81c2118610b1bcea4b1d196f9afaa1 -size 960546 +oid sha256:6222045b4e6a475e498b219c46e40580d835ebbcd7787d5485df15687aa3c4df +size 367972 diff --git a/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/info.json b/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/info.json index f76f2ae0548fc1c697d1d130431faadcbdcdd49d..f7232de04e1e3789676a5a65d927d60feb10fe5c 100644 --- a/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/info.json +++ b/aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/info.json @@ -1,182 +1,179 @@ { - 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State: absolute pose. Action: absolute position + absolute quat + absolute gripper. Per-task structure with independent norm_stats. Clean (50 demos) and aug (500 demos) subsets. 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Original dataset: robbyant/robotwin-clean-and-aug-lerobot (CC BY-NC-SA 4.0)." -} \ No newline at end of file + "frame_index": { + "dtype": "int64", + "names": null, + "shape": [ + 1 + ] + }, + "index": { + "dtype": "int64", + "names": null, + "shape": [ + 1 + ] + }, + "observation.images.head": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "av1", + "video.fps": 50, + "video.height": 480, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 640 + }, + "names": [ + "channels", + "height", + "width" + ], + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist_left": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "av1", + "video.fps": 50, + "video.height": 480, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 640 + }, + "names": [ + "channels", + "height", + "width" + ], + "shape": [ + 3, + 480, + 640 + ] + }, + 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State: absolute pose. Action: absolute position + absolute quat + absolute gripper. Per-task structure with independent norm_stats. Clean (50 demos) and aug (500 demos) subsets. Original dataset: robbyant/robotwin-clean-and-aug-lerobot (CC BY-NC-SA 4.0)." -} \ No newline at end of file + "frame_index": { + "dtype": "int64", + "names": null, + "shape": [ + 1 + ] + }, + "index": { + "dtype": "int64", + "names": null, + "shape": [ + 1 + ] + }, + "observation.images.head": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "av1", + "video.fps": 50, + "video.height": 480, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 640 + }, + "names": [ + "channels", + "height", + "width" + ], + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist_left": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "av1", + "video.fps": 50, + "video.height": 480, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 640 + }, + "names": [ + "channels", + "height", + "width" + ], + "shape": [ + 3, + 480, + 640 + ] + }, + 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