| 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`](https://huggingface.co/datasets/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`](https://huggingface.co/datasets/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` | |