---
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).