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rt2rand_mixed_5tasks_clean50_randomized50

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Robotics

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rt2rand_mixed_5tasks_clean50_randomized50 / README.md

s1ghhh

Add RoboTwin2.0 five-task clean50 + randomized50 LeRobot dataset

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metadata

license: mit
task_categories:
  - robotics
tags:
  - lerobot
  - robotwin
  - aloha
  - manipulation

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-agilex source embodiment)
Frequency: 50 Hz
State: 14 dimensions
Action: 14 dimensions
Cameras: cam_high, cam_left_wrist, cam_right_wrist