Search is not available for this dataset
observation.state list | action list | observation.images.cam_high imagewidth (px) 640 640 | observation.images.cam_left_wrist imagewidth (px) 640 640 | observation.images.cam_right_wrist imagewidth (px) 640 640 | timestamp float32 0 5.88 | frame_index int64 0 294 | episode_index int64 0 167 | index int64 0 20.7k | task_index int64 0 166 |
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End of preview. Expand in Data Studio
RoboTwin 2.0: clean50 + randomized50, five-task mixture
LeRobot v2.1 dataset for OpenPI training, converted from
TianxingChen/RoboTwin2.0.
Composition
The dataset contains 500 episodes and 111,025 frames:
| Task | Embodiment | Clean | Randomized |
|---|---|---|---|
turn_switch |
aloha-agilex |
50 | 50 |
move_playingcard_away |
aloha-agilex |
50 | 50 |
beat_block_hammer |
aloha-agilex |
50 | 50 |
place_dual_shoes |
aloha-agilex |
50 | 50 |
open_microwave |
aloha-agilex |
50 | 50 |
The clean episodes are all episodes from each official
aloha-agilex_clean_50.zip. The randomized episodes are episodes 0–49 from
each official aloha-agilex_randomized_500.zip, matching
s1ghhh/rt2rand_mixed_5tasks_randomized.
Schema
- Robot type: ALOHA (
aloha-agilexsource embodiment) - Frequency: 50 Hz
- State: 14 dimensions
- Action: 14 dimensions
- Cameras:
cam_high,cam_left_wrist,cam_right_wrist
- Downloads last month
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