andreaskoepf/robotwin_dk1_realcam_stack_blocks_two_1000

This dataset was created using LeRobot.

Dataset Description

Bimanual manipulation demonstrations for the Stack Blocks Two task, generated in the RoboTwin simulator with domain randomization.

• Robot: TRLC DK1 bimanual (bi_dk1_follower) - 2x 6-DOF arms with parallel grippers
• Task: Stack Blocks Two
• Episodes: 1000
• Total frames: 217,335 (213.1 min @ 17 fps)
• Avg episode length: 12.8s

Cameras

Camera	Resolution	Codec	FPS
observation.images.head	640x360	h264	17
observation.images.left_wrist	640x360	h264	17
observation.images.right_wrist	640x360	h264	17

Action & State Space

• action: float32[14] - joint position targets (6 joints + 1 gripper per arm)
• observation.state: float32[14] - current joint positions + gripper state

Task Descriptions

• "Shift red block and green block to the middle, then stack green block over red block."
• "Bring red block to the center, then stack green block over it."
• "Center red block using the right arm, then stack green block with the left arm on top."
• "Shift red block and green block to the center and stack green block on red block."
• "Place red block and green block in the center, then stack green block above red block."

Loading the Dataset

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("andreaskoepf/robotwin_dk1_realcam_stack_blocks_two_1000")
frame = dataset[0]
print(frame["observation.state"].shape)  # torch.Size([14])
print(frame["action"].shape)             # torch.Size([14])

Citation

@misc{robotwin2025,
  title = {RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins},
  author = {Chen, Yao Mu et al.},
  year = {2025},
  url = {https://github.com/TianxingChen/RoboTwin}
}