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Datasets:
Traly
/
Robotwin2.0-lerobot

Tasks:
Robotics
Size:
100K<n<1M
ArXiv:
Tags:
lerobot
robotwin
bimanual
multi-embodiment
simulation
License:
Dataset card Files
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Dataset Viewer
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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
codebase_version: string
robot_type: string
total_episodes: int64
total_frames: int64
total_tasks: int64
chunks_size: int64
data_files_size_in_mb: int64
video_files_size_in_mb: int64
fps: int64
splits: struct<train: string>
  child 0, train: string
data_path: string
video_path: string
features: struct<observation.state: struct<dtype: string, shape: list<item: int64>, names: null>, observation. (... 1089 chars omitted)
  child 0, observation.state: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 1, observation.state_ee: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 2, observation.embodiment_id: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 3, action: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 4, action_ee: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: n
...
agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
      child 0, n_episodes: int64
      child 1, total_frames: int64
      child 2, timestamp: timestamp[s]
  child 223, open_microwave/franka: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
      child 0, n_episodes: int64
      child 1, total_frames: int64
      child 2, timestamp: timestamp[s]
  child 224, blocks_ranking_size/aloha-agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
      child 0, n_episodes: int64
      child 1, total_frames: int64
      child 2, timestamp: timestamp[s]
  child 225, blocks_ranking_rgb/aloha-agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
      child 0, n_episodes: int64
      child 1, total_frames: int64
      child 2, timestamp: timestamp[s]
  child 226, open_microwave/arx-x5: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
      child 0, n_episodes: int64
      child 1, total_frames: int64
      child 2, timestamp: timestamp[s]
  child 227, open_microwave/aloha-agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
      child 0, n_episodes: int64
      child 1, total_frames: int64
      child 2, timestamp: timestamp[s]
  child 228, open_microwave/ur5: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
      child 0, n_episodes: int64
      child 1, total_frames: int64
      child 2, timestamp: timestamp[s]
to
{'completed_tasks': {'dump_bin_bigbin/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_alarmclock/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_alarmclock/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_alarmclock/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/piper': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'beat_block_hammer/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'beat_block_hammer/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'grab_roller/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'beat_block_hammer/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]
...
nt64'), 'timestamp': Value('timestamp[s]')}, 'place_can_basket/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/piper': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'handover_block/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'place_cans_plasticbox/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'hanging_mug/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'blocks_ranking_size/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'blocks_ranking_rgb/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}}, 'version': Value('int64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
                  return get_rows(
                         ^^^^^^^^^
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
                  rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 265, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 120, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2272, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              codebase_version: string
              robot_type: string
              total_episodes: int64
              total_frames: int64
              total_tasks: int64
              chunks_size: int64
              data_files_size_in_mb: int64
              video_files_size_in_mb: int64
              fps: int64
              splits: struct<train: string>
                child 0, train: string
              data_path: string
              video_path: string
              features: struct<observation.state: struct<dtype: string, shape: list<item: int64>, names: null>, observation. (... 1089 chars omitted)
                child 0, observation.state: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 1, observation.state_ee: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 2, observation.embodiment_id: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 3, action: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 4, action_ee: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: n
              ...
              agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
                    child 0, n_episodes: int64
                    child 1, total_frames: int64
                    child 2, timestamp: timestamp[s]
                child 223, open_microwave/franka: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
                    child 0, n_episodes: int64
                    child 1, total_frames: int64
                    child 2, timestamp: timestamp[s]
                child 224, blocks_ranking_size/aloha-agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
                    child 0, n_episodes: int64
                    child 1, total_frames: int64
                    child 2, timestamp: timestamp[s]
                child 225, blocks_ranking_rgb/aloha-agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
                    child 0, n_episodes: int64
                    child 1, total_frames: int64
                    child 2, timestamp: timestamp[s]
                child 226, open_microwave/arx-x5: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
                    child 0, n_episodes: int64
                    child 1, total_frames: int64
                    child 2, timestamp: timestamp[s]
                child 227, open_microwave/aloha-agilex: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
                    child 0, n_episodes: int64
                    child 1, total_frames: int64
                    child 2, timestamp: timestamp[s]
                child 228, open_microwave/ur5: struct<n_episodes: int64, total_frames: int64, timestamp: timestamp[s]>
                    child 0, n_episodes: int64
                    child 1, total_frames: int64
                    child 2, timestamp: timestamp[s]
              to
              {'completed_tasks': {'dump_bin_bigbin/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_alarmclock/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_alarmclock/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_alarmclock/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'click_bell/piper': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'beat_block_hammer/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'beat_block_hammer/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'grab_roller/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'beat_block_hammer/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]
              ...
              nt64'), 'timestamp': Value('timestamp[s]')}, 'place_can_basket/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/piper': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'handover_block/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'place_cans_plasticbox/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'hanging_mug/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/franka': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'blocks_ranking_size/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'blocks_ranking_rgb/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/arx-x5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/aloha-agilex': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}, 'open_microwave/ur5': {'n_episodes': Value('int64'), 'total_frames': Value('int64'), 'timestamp': Value('timestamp[s]')}}, 'version': Value('int64')}
              because column names don't match

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RoboTwin2.0 - LeRobot v3.0

RoboTwin2.0 converted to LeRobot v3.0 format. Contains both joint-space and end-effector (EE) pose data for bimanual manipulation across 5 robot embodiments.

Dataset Statistics

Episodes 114,001
Frames 18,709,206
Tasks 50
Embodiments 5
FPS 30
Format LeRobot v3.0 (Parquet + MP4)
Size ~20 GB

Embodiments

Embodiment Episodes DOF (per arm)
Franka 22,501 7+1
ARX-X5 24,500 6+1
Aloha-AgileX 25,000 6+1
Piper 18,500 6+1
UR5 23,500 6+1

All robots are bimanual (dual-arm). Each arm has joint_dim + gripper(1) DOF.

Features

Feature Shape Description
observation.state [16] Joint state: left_joint(7) + left_grip(1) + right_joint(7) + right_grip(1)
observation.state_ee [16] EE pose: left_xyz(3) + left_quat(4) + left_grip(1) + right(8)
observation.embodiment_id [5] One-hot embodiment vector
action [16] Next-frame joint state (absolute)
action_ee [16] Next-frame EE pose (absolute)
observation.images.head [240, 320, 3] Head camera (video)
observation.images.left_wrist [240, 320, 3] Left wrist camera (video)
observation.images.right_wrist [240, 320, 3] Right wrist camera (video)
observation.images.front [240, 320, 3] Front camera (video, not all embodiments)

Conventions

  • Joint state: Padded to 7 DOF per arm (zero-padded for 6-DOF robots)
  • EE quaternion: [x, y, z, w] format
  • Gripper: [0, 1], where 1 = open

Tasks (50)

Click to expand full task list

adjust_bottle, beat_block_hammer, blocks_ranking_rgb, blocks_ranking_size, click_alarmclock, click_bell, dump_bin_bigbin, grab_roller, handover_block, handover_mic, hanging_mug, lift_pot, move_can_pot, move_pillbottle_pad, move_playingcard_away, move_stapler_pad, open_laptop, open_microwave, pick_diverse_bottles, pick_dual_bottles, place_a2b_left, place_a2b_right, place_bread_basket, place_bread_skillet, place_burger_fries, place_can_basket, place_cans_plasticbox, place_container_plate, place_dual_shoes, place_empty_cup, place_fan, place_mouse_pad, place_object_basket, place_object_scale, place_object_stand, place_phone_stand, place_shoe, press_stapler, put_bottles_dustbin, put_object_cabinet, rotate_qrcode, scan_object, shake_bottle, shake_bottle_horizontally, stack_blocks_three, stack_blocks_two, stack_bowls_three, stack_bowls_two, stamp_seal, turn_switch

Each task uses the randomized_500 variant (domain-randomized, up to 500 episodes per embodiment).

Source

Converted from TianxingChen/RoboTwin2.0 HDF5 data using parallel conversion with per-task checkpointing.

Citation 

@article{mu2024robotwin,
  title={RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins},
  author={Mu, Yao and Chen, Tianxing and Peng, Shijia and Chen, Zanxin and Gao, Zeyu and Zou, Yude and Lin, Lunkai and Xie, Zhiqiang and Luo, Ping},
  journal={arXiv preprint arXiv:2409.02920},
  year={2024}
}
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Paper for Traly/Robotwin2.0-lerobot