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README.md

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+---
+license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - lerobot
+  - robotwin
+  - bimanual
+  - multi-embodiment
+  - simulation
+pretty_name: RoboTwin2.0 LeRobot
+size_categories:
+  - 100K<n<1M
+---
+
+# RoboTwin2.0 - LeRobot v3.0
+
+[RoboTwin2.0](https://huggingface.co/datasets/TianxingChen/RoboTwin2.0) converted to [LeRobot v3.0](https://github.com/huggingface/lerobot) 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)
+
+<details>
+<summary>Click to expand full task list</summary>
+
+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
+
+</details>
+
+Each task uses the `randomized_500` variant (domain-randomized, up to 500 episodes per embodiment).
+
+## Source
+
+Converted from [TianxingChen/RoboTwin2.0](https://huggingface.co/datasets/TianxingChen/RoboTwin2.0) HDF5 data using parallel conversion with per-task checkpointing.
+
+## Citation
+
+```bibtex
+@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}
+}
+```

meta/checkpoint.json

@@ -0,0 +1,1150 @@
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+      "timestamp": "2026-04-01T18:12:18"
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meta/task_cache/grab_roller__ur5.json

@@ -0,0 +1 @@
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meta/task_cache/open_laptop__franka.json

@@ -0,0 +1 @@
+[{"episode_index": 37001, "T": 97, "task_label": "[franka] open_laptop: Gently open the sleek laptop design.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 0}, {"episode_index": 37002, "T": 232, "task_label": "[franka] open_laptop: Use the left arm to raise the medium-sized black portable laptop.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 1}, {"episode_index": 37003, "T": 193, "task_label": "[franka] open_laptop: Use the right arm to open the Toshiba laptop.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 2}, {"episode_index": 37004, "T": 121, "task_label": "[franka] open_laptop: Gently raise the portable slim laptop using the right arm.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 3}, {"episode_index": 37005, "T": 228, "task_label": "[franka] open_laptop: Use the right arm to raise the black laptop with shiny display panel.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 4}, {"episode_index": 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open_laptop: Open the sleek black laptop with blue monitor completely.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 336}, {"episode_index": 37338, "T": 175, "task_label": "[franka] open_laptop: Raise and open the foldable black laptop.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 337}, {"episode_index": 37339, "T": 86, "task_label": "[franka] open_laptop: Grip and lift the lightweight laptop's lid.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 338}, {"episode_index": 37340, "T": 121, "task_label": "[franka] open_laptop: Gently raise the black and silver laptop using the right arm.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 339}, {"episode_index": 37341, "T": 102, "task_label": "[franka] open_laptop: Lift the medium foldable silver laptop slightly.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 340}, {"episode_index": 37342, "T": 361, "task_label": "[franka] open_laptop: Use the left arm to 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open_laptop: Use the right arm to open the laptop with silver base", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 406}, {"episode_index": 37408, "T": 353, "task_label": "[franka] open_laptop: Open the black and silver laptop carefully with the left arm.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 407}, {"episode_index": 37409, "T": 166, "task_label": "[franka] open_laptop: Raise the foldable laptop with screen using the right arm firmly.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 408}, {"episode_index": 37410, "T": 242, "task_label": "[franka] open_laptop: Open the laptop with silver keyboard entirely.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 409}, {"episode_index": 37411, "T": 116, "task_label": "[franka] open_laptop: Pull open the lightweight silver laptop", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 410}, {"episode_index": 37412, "T": 120, "task_label": "[franka] open_laptop: Push the 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open_laptop: Gently lift the smooth laptop with Windows logo underneath using the right arm", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 416}, {"episode_index": 37418, "T": 387, "task_label": "[franka] open_laptop: Grip and lift the device with flat keyboard and screen's lid.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 417}, {"episode_index": 37419, "T": 124, "task_label": "[franka] open_laptop: Pull the black metallic laptop's lid upward.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 418}, {"episode_index": 37420, "T": 143, "task_label": "[franka] open_laptop: Pull open the medium foldable silver laptop", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 419}, {"episode_index": 37421, "T": 125, "task_label": "[franka] open_laptop: Pull the screen of the foldable laptop with patterned keyboard.", "embodiment": "franka", "task_name": "open_laptop", "ep_idx": 420}, {"episode_index": 37422, "T": 181, "task_label": 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meta/task_cache/open_laptop__ur5.json

@@ -0,0 +1 @@
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