datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
RoboTwin2.0robotwin-clean-and-aug-lerobot
Robotwin Dataset
Robotwin dataset in Lerobot format, with video latents already extracted in WAN 2.2 format, ready for use in Lingbot-VA post-training.
License Agreement
This project is licensed under the CC BY-NC-SA 4.0.
robotwin_3d
RoboTwin 2.0 — 3D (RGB + Depth)
Bimanual manipulation data from the RoboTwin 2.0 simulator, in LeRobot v2.1 format, with per-camera ground-truth depth alongside RGB.
Tasks
50
Episodes
27,500 (550 per task, contiguous)
Frames
6,183,813
Robot
ALOHA-style bimanual, 14-DoF
Control rate
50 Hz
Cameras
3 (cam_high, cam_left_wrist, cam_right_wrist)
Resolution
240 × 320
Language instructions
1,039,891 unique corpus-wide; 100 entries per episode
Total size… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/robotwin_3d.RoboTwin2.0-Depthrobotwin-random-47-500
RoboTwin Randomized 47 Tasks, 500 Episodes Each
This dataset contains a 500-episode subset for each of 47 randomized RoboTwin
tasks. Episodes 0 through 499 were selected from each task.
Structure
<task>-demo_randomized-1000/
episode_<n>/
episode_<n>.hdf5
instructions.json
Each HDF5 episode contains robot actions, joint positions, arm metadata, and
three encoded camera streams:
action
observations/qpos
observations/left_arm_dim… See the full description on the dataset page: https://huggingface.co/datasets/sunLry/robotwin-random-47-500.X-WAM-RoboTwin
X-WAM
Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising
Dataset Summary
This is the RoboTwin 2.0 fine-tuning dataset used to train the X-WAM unified 4D World Action Model. It packages dual-arm bimanual manipulation demonstrations into a unified multi-view RGB-D video + low-dimensional state/action format, where each episode provides synchronized RGB videos, depth videos, dual-arm end-effector proprioception, actions, and a… See the full description on the dataset page: https://huggingface.co/datasets/sharinka0715/X-WAM-RoboTwin.robotwin_unifiedrobotwin_aloha_clean_hdf5without depth data. processed data. generated from python scripts/process_data.py $task_name $setting $expert_data_num
robotwin2.0-fastwam
RobotWin 2.0 (Preprocessed LeRobot v2.1 Release)
This repository releases our preprocessed RoboTwin / RobotWin 2.0 dataset in LeRobot v2.1 format for the open-source release of Fast-WAM: Do World Action Models Need Test-time Future Imagination?
This is not the official upstream RoboTwin release. It is our paper-specific processed version prepared to support training, evaluation, and reproducibility for our project.
This Hugging Face repository distributes the dataset as split… See the full description on the dataset page: https://huggingface.co/datasets/yuanty/robotwin2.0-fastwam.RoboTwin-CleanRoboTwin-RandomizedRoboTwin-MeMrobotwin-icl-paired-v3
RoboTwin ICL-paired v3
Cross-embodiment paired dataset on RoboTwin: 25 manipulation tasks rendered for 3 robots (arx-x5, franka, ur5) from a shared seed pool, so episode index i corresponds to the same scene/trajectory across all three robots.
Status (snapshot 2026-05-03)
13 tasks: 150 train + 50 val per robot.
scan_object click_bell place_empty_cup press_stapler click_alarmclock
place_container_plate stamp_seal move_pillbottle_pad place_fan
place_bread_skillet lift_pot… See the full description on the dataset page: https://huggingface.co/datasets/yeeeiii111/robotwin-icl-paired-v3.simple_robotwinRoboTwin-LeRobot-v3.0RoboTwin
robosuite
[Homepage] [White Paper] [Documentations] [ARISE Initiative]
Latest Updates
[10/28/2024] v1.5: Added support for diverse robot embodiments (including humanoids), custom robot composition, composite controllers (including whole body controllers), more teleoperation devices, photo-realistic rendering. [release notes] [documentation]
[11/15/2022] v1.4: Backend migration to DeepMind's official MuJoCo Python binding, robot textures, and bug fixes… See the full description on the dataset page: https://huggingface.co/datasets/Fxxkrobotics/RoboTwin.robotwin_merged
LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies
This repository contains the preprocessed dataset used in the paper LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies.
Project Page: https://rlinf.github.io/LaWAM/
Repository: https://github.com/RLinf/LaWAM
The dataset is formatted in LeRobot format and is designed for training and evaluating dynamics-aware robot policies.
Citation
@misc{chen2026lawam… See the full description on the dataset page: https://huggingface.co/datasets/jialei02/robotwin_merged.robotwin_3d_text_embeds_cache
RoboTwin 2.0 3D — T5 Text Embedding Cache
Precomputed UMT5-XXL text embeddings for the
1,039,891 unique task prompts of the RoboTwin 2.0 3D dataset
(flex-pi/robotwin_3d), as consumed by
Wan2.2-TI2V-5B. Precomputing these costs substantial GPU time; this cache skips it.
Cache key
Task strings from meta/tasks.jsonl are wrapped in a fixed template before encoding, and the cache
key is the sha256 of that templated prompt:
DEFAULT_PROMPT = "A video recorded from a… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/robotwin_3d_text_embeds_cache.robotwin_scan_object_place_dual_shoes_serialized_200robotwin2.0-hardLingBot-VA_RoboTwin_clibration_data
LingBot-VA × RoboTwin Calibration Data
bf16 rollout capture from the LingBot-VA world-action model on the
RoboTwin 2.0 simulator: per-chunk observations, video latents, and predicted
actions recorded over 250 episodes.
Provenance
Source model
LingBot-VA (robbyant/lingbot-va-posttrain-robotwin, 5.09B bf16 Wan transformer)
Simulator
RoboTwin 2.0
Tasks
50 RoboTwin tasks
Episodes
5 per task → 250 episodes
Scene config
demo_randomized (per-episode… See the full description on the dataset page: https://huggingface.co/datasets/JingwuLuo/LingBot-VA_RoboTwin_clibration_data.robotwin_dynamic_27500Robotwinrobotwin
RoboTwin Bimanual Robotic Manipulation Platform
Lastest Version: RoboTwin 2.0🤲 Webpage | Document | Paper | Community | Leaderboard
https://private-user-images.githubusercontent.com/88101805/463126988-e3ba1575-4411-4a36-ad65-f0b2f49890c3.mp4
[2.0 Version (lastest)] RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic ManipulationUnder Review 2025: Webpage | Document | PDF | arXiv | Talk (in Chinese) | 机器之心 | Leaderboard… See the full description on the dataset page: https://huggingface.co/datasets/sdvkasc/robotwin.robotwin2_rldsrobotwin2.0-egowam-flow-cam_high-subset
RoboTwin 2.0 cam_high EgoWAM-style 3D Flow — snapshot subset (8,522 episodes)
Query-based 3D motion-flow sidecar labels for the RoboTwin 2.0 LeRobot dataset
(yuanty/robotwin2.0-fastwam), generated with a pretrained 3D point tracker
(Track4World, DA3 backbone, metric-scale mode) from RGB only — EgoWAM-style
(arXiv 2607.08436 §4.2 conventions). This is a frozen snapshot of an in-progress
full-dataset run (27,500 episodes); see snapshot_manifest.json for the exact
episode list and… See the full description on the dataset page: https://huggingface.co/datasets/kimtaey/robotwin2.0-egowam-flow-cam_high-subset.RoboTwin-LeRobot-unseen-tasks-cross-embrobotwin_3d_missingrobotwin_scan_object_place_dual_shoes_parallel_200RoboTwin-LeRobot