---
license: apache-2.0
task_categories: [robotics]
tags: [robotics, manipulation, lerobot, dual-arm, dynamic]
---

# RoboDyna — LeRobot dataset

Expert demonstrations for the **RoboDyna** dynamic dual-arm manipulation benchmark
(forked from [DOMINO](https://github.com/h-embodvis/DOMINO), RoboTwin 2.0 + SAPIEN 3.0.3),
in **LeRobot v2.1** format. Project: https://github.com/EAI-RSM/RoboDyna · site: https://eai-rsm.github.io/RoboDyna/

**4 tasks × 100 episodes** (dual-UR5 + WSG, 16.67 Hz): `cook_meat`, `sort_apples_belt`,
`pick_ripe_apple`, `catch_ramp_ball`. Cameras: head, countertop, left_wrist, right_wrist.