Datasets:

andreaskoepf
/

robotwin_dk1_realcam_stack_blocks_three_1000

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - RoboTwin
  - bimanual
  - simulation
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

Dataset Description

Bimanual manipulation demonstrations for the Stack Blocks Three task, generated in the RoboTwin simulator with domain randomization.

Robot: TRLC DK1 bimanual (bi_dk1_follower) - 2x 6-DOF arms with parallel grippers
Task: Stack Blocks Three
Episodes: 1000
Total frames: 323,557 (317.2 min @ 17 fps)
Avg episode length: 19.0s

Cameras

Camera	Resolution	Codec	FPS
`observation.images.head`	640x360	h264	17
`observation.images.left_wrist`	640x360	h264	17
`observation.images.right_wrist`	640x360	h264	17

Action & State Space

action: float32[14] - joint position targets (6 joints + 1 gripper per arm)
observation.state: float32[14] - current joint positions + gripper state

Task Descriptions

"Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block."
"Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block."
"Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block."
"Use the right arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them."
"Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block."

Loading the Dataset

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("andreaskoepf/robotwin_dk1_realcam_stack_blocks_three_1000")
frame = dataset[0]
print(frame["observation.state"].shape)  # torch.Size([14])
print(frame["action"].shape)             # torch.Size([14])

Citation

@misc{robotwin2025,
  title = {RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins},
  author = {Chen, Yao Mu et al.},
  year = {2025},
  url = {https://github.com/TianxingChen/RoboTwin}
}