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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](https://github.com/huggingface/lerobot).
<a href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=andreaskoepf/robotwin_dk1_realcam_stack_blocks_two_1000">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## Dataset Description
Bimanual manipulation demonstrations for the **Stack Blocks Two** task, generated in the [RoboTwin](https://github.com/TianxingChen/RoboTwin) simulator with domain randomization.
- **Robot:** TRLC DK1 bimanual (`bi_dk1_follower`) - 2x 6-DOF arms with parallel grippers
- **Task:** Stack Blocks Two
- **Episodes:** 1000
- **Total frames:** 217,335 (213.1 min @ 17 fps)
- **Avg episode length:** 12.8s
### 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
- "Shift red block and green block to the middle, then stack green block over red block."
- "Bring red block to the center, then stack green block over it."
- "Center red block using the right arm, then stack green block with the left arm on top."
- "Shift red block and green block to the center and stack green block on red block."
- "Place red block and green block in the center, then stack green block above red block."
## Loading the Dataset
```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("andreaskoepf/robotwin_dk1_realcam_stack_blocks_two_1000")
frame = dataset[0]
print(frame["observation.state"].shape) # torch.Size([14])
print(frame["action"].shape) # torch.Size([14])
```
## Citation
```bibtex
@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}
}
```
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