RoboTwin
Datasets
All datasets matching “RoboTwin”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.