Robot learning dataset
RoboTwin 2.0 Dataset
Simulation-generated bimanual manipulation demonstrations for RoboTwin 2.0, with Aloha-AgileX as the default embodiment. Official documentation describes pre-collected HDF5 trajectories, and the download repository also contains LeRobot conversions. The dataset repository is tagged MIT.
Records last verified Oct 13, 2026 · Send a correction
Licence & use
MIT
Commercial use allowed
Licence text ↗Terms apply to the checked release. Read publisher conditions for mixed collections, converted formats and gated access.
- Publisher
- RoboTwin team
- Released
- Not dated
- Published size
- 1.53 TB
- Modalities
- rgb, proprioception, language
- Formats
- HDF5, LeRobot
- Real / simulated
- Sim
- Includes humanoid recordings
- No
Size & release notes
Hugging Face lists 1.53 TB for the whole repository, which also contains assets and checkpoints. Official collection docs state over 100,000 pre-collected trajectories, not an exact count. Native HDF5 and LeRobot versions are distributed; Parquet auto-viewer metadata was not used to identify the native format.
Recorded embodiments
- Aloha-AgileX (simulated default bimanual embodiment)
- Franka (simulated dual-arm; model unspecified)
- UR5 (simulated dual-arm)
- Piper (simulated dual-arm)
- ARX-X5 (simulated dual-arm)
Models disclosing this training dataset
More robot learning datasets
Evidence
Sources
- [s1] TianxingChen/RoboTwin2.0 dataset repository ↗
RoboTwin authors · official · accessed Oct 13, 2026
- [s2] RoboTwin 2.0 paper (simulation-based data synthesis) ↗
arXiv · paper · published Jun 22, 2025 · accessed Oct 13, 2026
- [s3] RoboTwin 2.0 official project ↗
RoboTwin Team · official · accessed Oct 13, 2026
- [s4] RoboTwin 2.0 official dataset collection and format documentation ↗
RoboTwin Team · official · accessed Oct 13, 2026
- [s5] RoboTwin 2.0 repository inventory: raw and LeRobot data ↗
RoboTwin Team · official · accessed Oct 13, 2026
- [s6] RoboTwin collection implementation: RGB and robot joint observations ↗
RoboTwin Team · official · accessed Oct 13, 2026
- [s7] RoboTwin 2.0 paper: collection embodiments and language instructions ↗
arXiv · paper · accessed Oct 13, 2026
- [s8] The MIT License ↗
Open Source Initiative · official · accessed Oct 13, 2026