| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - robotics |
| - bimanual |
| - manipulation |
| - robotwin |
| - simulation |
| - cup-nesting |
| size_categories: |
| - n<1K |
| --- |
| |
| # RoboTwin Cup-Nesting (Bimanual, Dual-Aloha) |
|
|
| 500 successful expert demonstrations of **bimanual cup nesting** — a dual-arm |
| robot nests three cups into one another — collected in the [RoboTwin |
| 2.0](https://github.com/RoboTwin-Platform/RoboTwin) simulator with strong domain |
| randomization. Format: **LeRobot v2.1**. |
|
|
| ## What's in it |
|
|
| | | | |
| |---|---| |
| | Episodes | 500 (all success-filtered) | |
| | Frames | 287,571 @ 30 fps | |
| | Embodiment | dual-arm Aloha (`aloha-agilex`), 14-DoF | |
| | Action / state | 14-dim absolute joint positions | |
| | Cameras | head + left-wrist + right-wrist RGB, 240×320, h264 | |
| | Domain randomization | background, cluttered table, lighting, table height | |
|
|
| ### Instructions (a note on honesty) |
|
|
| Two instruction styles are present, **both on cup-nesting episodes**: |
|
|
| - **50 color-conditioned** episodes: `"stack the other cups into the {green|blue|red} cup"` (17 / 17 / 16). |
| - **450 generic** episodes: `"stack the three cups by nesting them into one another"`. |
|
|
| The 450 generic episodes were originally captioned with a stale *"stack the three |
| bowls…"* instruction inherited when this task was adapted from RoboTwin's built-in |
| `stack_bowls_three`. **The objects are cups in every episode** (verified visually); |
| only the captions were generic. They have been relabeled to the generic cup |
| instruction above. If you need clean color-conditioning signal, use the 50 |
| color-conditioned episodes; the other 450 are color-agnostic nesting demos. |
|
|
| ## Collection |
|
|
| Trajectories were generated by RoboTwin's motion-planning expert (curobo + mplib), |
| success-gated (only episodes passing the nesting success check are kept), on a |
| custom `stack_cups_three` task (our adaptation of RoboTwin's `stack_bowls_three`). |
|
|
| ## Known consumer gotcha: `is_success` |
| |
| `is_success` is declared with shape `(1,)`, so LeRobot stores each cell as |
| `list<bool>` (`[True]`/`[False]`). In Python, `bool([False])` is **`True`** — |
| a non-empty list is truthy. Unwrap the scalar before use: |
| `bool(cell[0])`, not `bool(cell)`. |
|
|
| ## Loading |
|
|
| ```python |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| ds = LeRobotDataset("buzinguyen/robotwin-cups-nesting") |
| ``` |
|
|
| ## Attribution & Licensing |
|
|
| - This dataset (trajectories + renders) is released under the **MIT License**. |
| - Generated with **RoboTwin 2.0**; 3D assets (`021_cup`) and the `aloha-agilex` |
| embodiment are from RoboTwin's repositories (MIT). The bowls task template is |
| RoboTwin's `stack_bowls_three`; the cup task and all trajectories are ours. |
| - Full third-party notice: see `THIRD_PARTY_LICENSES.md`. |
|
|
| If you use this dataset, please cite RoboTwin 2.0: |
|
|
| ```bibtex |
| @article{chen2025robotwin, |
| title={RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain |
| Randomization for Robust Bimanual Robotic Manipulation}, |
| author={Chen, Tianxing and others}, |
| journal={arXiv preprint arXiv:2506.18088}, |
| year={2025} |
| } |
| ``` |
|
|
