Datasets:

andreaskoepf
/

robotwin_dk1_realcam_stack_blocks_two_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 Two 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 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

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

@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}
}