Datasets:
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observation.state list | action list | observation.phase_one_hot list | observation.arm_active_mask list | timestamp float32 0 8.47 | frame_index int64 0 254 | episode_index int64 0 199 | index int64 0 35.7k | task_index int64 0 117 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
robotwin_pick_dual_bottles_hybrid_200
A validated LeRobot v2.1 release of two native RoboTwin 2.0 expert schedules for pick_dual_bottles.
The two schedules were generated independently and are concatenated into one training split; they are not paired by seed or scene.
Composition
| LeRobot episodes | Schedule variant | Episodes | Aligned samples | Native config |
|---|---|---|---|---|
0-99 |
non_overlapping_reference |
100 | 23,557 | parallelvla_non_overlapping_reference_verified_v1 |
100-199 |
dependency_aware_overlap |
100 | 12,185 | parallelvla_dependency_aware_overlap_verified_v1 |
Total: 200 episodes, 35,742 aligned samples, 600 videos, 30 FPS.
The exact episode-to-variant, source episode, seed, and scene mapping is in parallelvla_variant_manifest.json.
What is the official RoboTwin schedule?
The official pick_dual_bottles expert schedule is classified as dependency_aware_overlap, not non-overlap:
- official
play_once()pairs both arms for grasp, lift, and place; - the audited official clean-50 HDF5 has active-motion overlap ratio
0.9980514419; - the official archive is
TianxingChen/RoboTwin2.0revision9dc9299c163db059931898a9f0852098a61155a1.
The official clean-50 files were not copied into this release. They lacked the source commit, recoverable actor-pose scene identity, phase trace, collision/native replay receipts, synchronized training-action replay receipt, and (1024, 6) point cloud required by the current validation protocol.
Schedule semantics
non_overlapping_reference
Every dual-arm expert move is split into native single-arm planner calls. At most one arm has active joint motion at a time, except for real possession/dependency waits. Left-first and right-first order is deterministically balanced to avoid an arm-order confound.
dependency_aware_overlap
Dependency-safe left/right primitives are passed directly to native RoboTwin move(left_action, right_action). This is real simulator concurrency, not a post-processing approximation. Across the 100 accepted episodes, active-motion overlap ratio is 0.9965716525.
There is no random temporal interpolation, no offline HDF5 retiming, no frame deletion/duplication, no observation splicing, and no frozen-video wait synthesis in either variant.
Source revisions and physics configuration
- parallelVLA generation commit:
ce20e57befbd4c424bb70f094aa19b4066d43f99 - RoboTwin commit:
c3ddfa8b97d5519efa828b075999bd0006778e5e - base physics/camera config:
parallelvla_clean_pcd - raw HDF5 provenance schema:
parallelvla_schema_version=4 - final seed policy:
independent; each variant searches its own fully accepted seeds
Training alignment
The LeRobot conversion uses the same shared action preprocessor as training and replay validation:
- preprocessor:
robotwin_next_sample_joint_target_v2, version 2 - alignment:
state[t] -> action[t+1] - deployment replay profile:
shared_dp3_pi05_qpos_topp_per_target_v1 - raw/sample FPS and LeRobot FPS: 30
- main camera routing: async segment-start scene context
- wrist camera routing: native dynamic frames per arm
- prompts are tagged per frame with
[PHASE=SYNC]or[PHASE=ASYNC]
Features include 14-DoF observation.state, 14-DoF action, observation.phase_one_hot, observation.arm_active_mask, and head/left-wrist/right-wrist AV1 video at 640x480.
Validation
Both variants pass 100/100 native plan, task-success, native replay, artifact, and inter-arm collision gates.
- native inter-arm contact steps: 0 for both variants
dependency_aware_overlapsynchronized training-action replay: 100/100 passed- training-action replay inter-arm contact steps: 0
- all 600 LeRobot videos strictly decoded with matching episode frame counts; no repair was needed
Validation reports are included under validation/.
Limitations
This LeRobot release does not contain the raw (1024, 6) point clouds or full native phase/collision receipts; those remain in the validated RoboTwin HDF5 roots. Efficiency comparisons must use the separate common-seed diagnostic set, not matching LeRobot episode indices, because the two published variants use independent seeds.
Citation
Please cite RoboTwin 2.0 and parallelVLA when using this release.
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