DuoBench LeRobot Dataset

This is the dataset collected for the FR3 Duo Benchmark DuoBench in LeRobot format ready for training. The dataset is a stripped down version from the raw dataset and only contains data required for VLA training. Checkout the raw dataset if you are interested e.g. in franka states (real) and sim states. The raw dataset repo also shows how to convert the data into this lerobot version.

Project page: https://duobench.github.io/ DuoBench Code: https://github.com/RobotControlStack/duobench

Citation

If you find this dataset or DuoBench useful for your work, please consider citing it:

@misc{duobench,
  title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
  author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
  year={2026},
  url={https://arxiv.org/abs/2606.11901}
}