---
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`