Datasets:

ar-mine
/

robotwin-eval-subset-v2-seen-unseen

task stringclasses 50 values	setting stringclasses 2 values	seed int64 300k 350k	policy_seed int64 300k 350k	instruction stringlengths 36 206	scene_info unknown	precheck_seconds float64 0.5 26	instruction_type stringclasses 2 values	subset_id stringclasses 1 value	episode_id stringlengths 19 41
adjust_bottle	clean	300,000	300,042	Grab the narrow-necked bottle and lift it upward from the table.	{ "{A}": "001_bottle/base13", "{a}": "left" }	19.679763	seen	robotwin-eval-subset-v2-seen-unseen	adjust_bottle__clean__00
adjust_bottle	randomized	300,500	300,542	Grab the plastic soda bottle from the table with the left arm	{ "{A}": "001_bottle/base13", "{a}": "left" }	20.077443	unseen	robotwin-eval-subset-v2-seen-unseen	adjust_bottle__randomized__00
beat_block_hammer	clean	301,000	301,042	Pick the hammer for nails with the left arm and hit the block	{ "{A}": "020_hammer/base0", "{a}": "left" }	12.879136	seen	robotwin-eval-subset-v2-seen-unseen	beat_block_hammer__clean__00
beat_block_hammer	randomized	301,500	301,542	Grab the hammer with claw and smooth head and hit the block	{ "{A}": "020_hammer/base0", "{a}": "left" }	12.956462	unseen	robotwin-eval-subset-v2-seen-unseen	beat_block_hammer__randomized__00
blocks_ranking_rgb	clean	302,000	302,042	Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.	{ "{A}": "red block", "{B}": "green block", "{C}": "blue block", "{a}": "right", "{b}": "left", "{c}": "left" }	17.315733	seen	robotwin-eval-subset-v2-seen-unseen	blocks_ranking_rgb__clean__00
blocks_ranking_rgb	randomized	302,500	302,542	Arrange red block, green block, and blue block side by side, starting with red block on the left.	{ "{A}": "red block", "{B}": "green block", "{C}": "blue block", "{a}": "left", "{b}": "left", "{c}": "right" }	17.64716	unseen	robotwin-eval-subset-v2-seen-unseen	blocks_ranking_rgb__randomized__00
blocks_ranking_size	clean	303,000	303,042	Relocate large block, medium block, and small block to the center and arrange them by size.	{ "{A}": "large block", "{B}": "medium block", "{C}": "small block", "{a}": "right", "{b}": "left", "{c}": "right" }	17.549001	seen	robotwin-eval-subset-v2-seen-unseen	blocks_ranking_size__clean__00
blocks_ranking_size	randomized	303,500	303,542	Take large block, medium block, and small block to the table center.	{ "{A}": "large block", "{B}": "medium block", "{C}": "small block", "{a}": "right", "{b}": "left", "{c}": "right" }	16.008544	unseen	robotwin-eval-subset-v2-seen-unseen	blocks_ranking_size__randomized__00
click_alarmclock	clean	304,000	304,042	Tap the button at the black matte alarm-clock's top center.	{ "{A}": "046_alarm-clock/base1", "{a}": "left" }	13.652549	seen	robotwin-eval-subset-v2-seen-unseen	click_alarmclock__clean__00
click_alarmclock	randomized	304,500	304,542	Press the alarm-clock with large numbers's center top button	{ "{A}": "046_alarm-clock/base1", "{a}": "right" }	12.575555	unseen	robotwin-eval-subset-v2-seen-unseen	click_alarmclock__randomized__00
click_bell	clean	305,000	305,042	Use the left arm to touch the bell with metallic top and plastic base's top center.	{ "{A}": "050_bell/base0", "{a}": "left" }	12.989242	seen	robotwin-eval-subset-v2-seen-unseen	click_bell__clean__00
click_bell	randomized	305,500	305,542	Find the blue bell with glossy finish and click its top center.	{ "{A}": "050_bell/base1", "{a}": "right" }	12.133862	unseen	robotwin-eval-subset-v2-seen-unseen	click_bell__randomized__00
dump_bin_bigbin	clean	306,000	306,042	Use the arm to lift the compact bin with rounded edges and empty it.	{ "{A}": "063_tabletrashbin/base8" }	13.949644	seen	robotwin-eval-subset-v2-seen-unseen	dump_bin_bigbin__clean__00
dump_bin_bigbin	randomized	306,500	306,542	Pick up the compact tabletop trashbin and pour it.	{ "{A}": "063_tabletrashbin/base10" }	14.419794	unseen	robotwin-eval-subset-v2-seen-unseen	dump_bin_bigbin__randomized__00
grab_roller	clean	307,000	307,042	Take the solid wood roller directly from the table.	{ "{A}": "102_roller/base0" }	13.918753	seen	robotwin-eval-subset-v2-seen-unseen	grab_roller__clean__00
grab_roller	randomized	307,500	307,542	Use both arms to grab the roller with tapered tips.	{ "{A}": "102_roller/base0" }	13.650949	unseen	robotwin-eval-subset-v2-seen-unseen	grab_roller__randomized__00
handover_block	clean	308,000	308,042	Take the red block and move it to the pad.	{}	18.460865	seen	robotwin-eval-subset-v2-seen-unseen	handover_block__clean__00
handover_block	randomized	308,500	308,542	Use the left arm to pick up the red block.	{}	18.886352	unseen	robotwin-eval-subset-v2-seen-unseen	handover_block__randomized__00
handover_mic	clean	309,000	309,042	Use one arm to pick up the microphone with rounded mesh head and give it to the other.	{ "{A}": "018_microphone/base5", "{a}": "right", "{b}": "left" }	19.147079	seen	robotwin-eval-subset-v2-seen-unseen	handover_mic__clean__00
handover_mic	randomized	309,501	309,543	Grab the microphone used for audio input from the table and pass it across.	{ "{A}": "018_microphone/base5", "{a}": "right", "{b}": "left" }	7.317629	unseen	robotwin-eval-subset-v2-seen-unseen	handover_mic__randomized__00
hanging_mug	clean	310,000	310,042	Pick the basic mug in solid white from the table using one hand, rotate, and hang it on the angled rack with long and short rods.	{ "{A}": "039_mug/base9", "{B}": "040_rack/base0" }	18.26193	seen	robotwin-eval-subset-v2-seen-unseen	hanging_mug__clean__00
hanging_mug	randomized	310,500	310,542	Pick up the medium black mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.	{ "{A}": "039_mug/base1", "{B}": "040_rack/base0" }	16.92783	unseen	robotwin-eval-subset-v2-seen-unseen	hanging_mug__randomized__00
lift_pot	clean	311,000	311,042	Raise the metal kitchenpot steadily using arms	{ "{A}": "060_kitchenpot/base0" }	13.373587	seen	robotwin-eval-subset-v2-seen-unseen	lift_pot__clean__00
lift_pot	randomized	311,504	311,546	Grab the dark gray cooking kitchenpot with both arms.	{ "{A}": "060_kitchenpot/base0" }	1.118728	unseen	robotwin-eval-subset-v2-seen-unseen	lift_pot__randomized__00
move_can_pot	clean	312,000	312,042	Bring the sauce can with white details over and set it near the teal pot for boiling and cooking	{ "{A}": "060_kitchenpot/base3", "{B}": "105_sauce-can/base5", "{a}": "right" }	18.683323	seen	robotwin-eval-subset-v2-seen-unseen	move_can_pot__clean__00
move_can_pot	randomized	312,500	312,542	Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot for stovetop boiling	{ "{A}": "060_kitchenpot/base2", "{B}": "105_sauce-can/base0", "{a}": "left" }	21.007552	unseen	robotwin-eval-subset-v2-seen-unseen	move_can_pot__randomized__00
move_pillbottle_pad	clean	313,000	313,042	Move the brown bottle with wide white label to the pad and release it there.	{ "{A}": "080_pillbottle/base4", "{a}": "left" }	21.94967	seen	robotwin-eval-subset-v2-seen-unseen	move_pillbottle_pad__clean__00
move_pillbottle_pad	randomized	313,502	313,544	Grab the hand-sized bottle with screw cap and set it on the pad	{ "{A}": "080_pillbottle/base5", "{a}": "right" }	9.818095	unseen	robotwin-eval-subset-v2-seen-unseen	move_pillbottle_pad__randomized__00
move_playingcard_away	clean	314,000	314,042	Pick up the blue carton for playingcards with the left arm and place it outward.	{ "{A}": "081_playingcards/base0", "{a}": "left" }	12.597494	seen	robotwin-eval-subset-v2-seen-unseen	move_playingcard_away__clean__00
move_playingcard_away	randomized	314,501	314,543	Pick up the small box for playingcards and move it outward.	{ "{A}": "081_playingcards/base1", "{a}": "left" }	2.154999	unseen	robotwin-eval-subset-v2-seen-unseen	move_playingcard_away__randomized__00
move_stapler_pad	clean	315,000	315,042	Grab the smooth plastic stapler using the right arm and set it on Cyan mat.	{ "{A}": "048_stapler/base3", "{B}": "Cyan", "{a}": "right" }	12.67716	seen	robotwin-eval-subset-v2-seen-unseen	move_stapler_pad__clean__00
move_stapler_pad	randomized	315,501	315,543	Grab the plastic stapler and set it on Green mat	{ "{A}": "048_stapler/base2", "{B}": "Green", "{a}": "right" }	1.804808	unseen	robotwin-eval-subset-v2-seen-unseen	move_stapler_pad__randomized__00
open_laptop	clean	316,000	316,042	Use the left arm to raise the smooth laptop with Windows logo underneath.	{ "{A}": "015_laptop/base5", "{a}": "left" }	17.515127	seen	robotwin-eval-subset-v2-seen-unseen	open_laptop__clean__00
open_laptop	randomized	316,500	316,542	Lift the portable laptop using the left arm.	{ "{A}": "015_laptop/base9", "{a}": "left" }	13.200748	unseen	robotwin-eval-subset-v2-seen-unseen	open_laptop__randomized__00
open_microwave	clean	317,000	317,042	Open the dark gray slanted microwave box by grasping its handle.	{ "{A}": "044_microwave/base1", "{a}": "left" }	20.535691	seen	robotwin-eval-subset-v2-seen-unseen	open_microwave__clean__00
open_microwave	randomized	317,500	317,542	Open the gray and yellow rectangular microwave using the left arm.	{ "{A}": "044_microwave/base0", "{a}": "left" }	19.693762	unseen	robotwin-eval-subset-v2-seen-unseen	open_microwave__randomized__00
pick_diverse_bottles	clean	318,003	318,045	Catch both the green bottle with indented base and the light and medium-sized bottle quickly.	{ "{A}": "001_bottle/base16", "{B}": "001_bottle/base4" }	7.532283	seen	robotwin-eval-subset-v2-seen-unseen	pick_diverse_bottles__clean__00
pick_diverse_bottles	randomized	318,500	318,542	Lift the bottle with green label and white lid using one arm and lift the shiny red bottle using the other.	{ "{A}": "001_bottle/base10", "{B}": "001_bottle/base0" }	17.965595	unseen	robotwin-eval-subset-v2-seen-unseen	pick_diverse_bottles__randomized__00
pick_dual_bottles	clean	319,000	319,042	Use one arm for the dark drink bottle with logo and the other for the green bottle with indented base.	{ "{A}": "001_bottle/base13", "{B}": "001_bottle/base16" }	19.067738	seen	robotwin-eval-subset-v2-seen-unseen	pick_dual_bottles__clean__00
pick_dual_bottles	randomized	319,500	319,542	Hold the plastic soda bottle in one hand, the green bottle in the other.	{ "{A}": "001_bottle/base13", "{B}": "001_bottle/base16" }	19.766849	unseen	robotwin-eval-subset-v2-seen-unseen	pick_dual_bottles__randomized__00
place_a2b_left	clean	320,000	320,042	Adjust the solid brown cleaning soap to rest on the blue stapler's left	{ "{A}": "107_soap/base3", "{B}": "048_stapler/base2", "{a}": "left" }	12.650457	seen	robotwin-eval-subset-v2-seen-unseen	place_a2b_left__clean__00
place_a2b_left	randomized	320,500	320,542	Grab the medium tea-box for gatherings and place left of the blue soap with printed patterns	{ "{A}": "112_tea-box/base1", "{B}": "107_soap/base2", "{a}": "left" }	15.128559	unseen	robotwin-eval-subset-v2-seen-unseen	place_a2b_left__randomized__00
place_a2b_right	clean	321,000	321,042	Bring the bread loaf with uneven edges to the right position of the white dome bell.	{ "{A}": "075_bread/base1", "{B}": "050_bell/base0", "{a}": "right" }	13.611927	seen	robotwin-eval-subset-v2-seen-unseen	place_a2b_right__clean__00
place_a2b_right	randomized	321,500	321,542	Place the playable toycar with rolling wheels on the small box for playingcards's right side.	{ "{A}": "057_toycar/base4", "{B}": "081_playingcards/base1", "{a}": "right" }	13.036856	unseen	robotwin-eval-subset-v2-seen-unseen	place_a2b_right__randomized__00
place_bread_basket	clean	322,001	322,043	Grab two breads the bread with golden crust and the braided bread loaf and place in the beige breadbasket.	{ "{A}": "076_breadbasket/base1", "{B}": "075_bread/base0", "{a}": "dual", "{C}": "075_bread/base0" }	2.695474	seen	robotwin-eval-subset-v2-seen-unseen	place_bread_basket__clean__00
place_bread_basket	randomized	322,500	322,542	Grab the rectangular bread loaf and the oval bread and drop it into the breadbasket with ridged texture.	{ "{A}": "076_breadbasket/base2", "{B}": "075_bread/base1", "{a}": "dual", "{C}": "075_bread/base3" }	15.696567	unseen	robotwin-eval-subset-v2-seen-unseen	place_bread_basket__randomized__00
place_bread_skillet	clean	323,000	323,042	Use the right arm to take the smooth loaf with rounded edges and move it into the black-surfaced skillet with gray sides.	{ "{A}": "106_skillet/base0", "{B}": "075_bread/base3", "{a}": "right" }	14.230541	seen	robotwin-eval-subset-v2-seen-unseen	place_bread_skillet__clean__00
place_bread_skillet	randomized	323,500	323,542	Grab the oval-shaped soft bread and place it into the round cast-iron skillet.	{ "{A}": "106_skillet/base1", "{B}": "075_bread/base3", "{a}": "left" }	14.388471	unseen	robotwin-eval-subset-v2-seen-unseen	place_bread_skillet__randomized__00
place_burger_fries	clean	324,000	324,042	Using dual arms, lift the white part with orange edges hamburg and the bright red fries holder and drop them on the dark green serving tray.	{ "{A}": "006_hamburg/base1", "{B}": "008_tray/base2", "{C}": "005_french-fries/base0" }	14.582266	seen	robotwin-eval-subset-v2-seen-unseen	place_burger_fries__clean__00
place_burger_fries	randomized	324,500	324,542	Pick up the cardboard hamburg box and the hand-sized fries container and place them on the rectangular bright orange serving tray.	{ "{A}": "006_hamburg/base5", "{B}": "008_tray/base1", "{C}": "005_french-fries/base0" }	14.14661	unseen	robotwin-eval-subset-v2-seen-unseen	place_burger_fries__randomized__00
place_can_basket	clean	325,000	325,042	Grab the metallic soda can, drop it into the basket for carrying things, then use another arm for the basket for carrying things.	{ "{A}": "071_can/base1", "{B}": "110_basket/base0", "{a}": "right" }	26.036343	seen	robotwin-eval-subset-v2-seen-unseen	place_can_basket__clean__00
place_can_basket	randomized	325,500	325,542	Use the left arm to pick up the red can with white top, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.	{ "{A}": "071_can/base6", "{B}": "110_basket/base0", "{a}": "left" }	19.697278	unseen	robotwin-eval-subset-v2-seen-unseen	place_can_basket__randomized__00
place_cans_plasticbox	clean	326,000	326,042	Drop the light brown can with smooth texture and the compact metal drink can into the deep blue plasticbox with grooves with both arms	{ "{A}": "071_can/base5", "{B}": "062_plasticbox/base5", "{C}": "071_can/base1" }	21.59482	seen	robotwin-eval-subset-v2-seen-unseen	place_cans_plasticbox__clean__00
place_cans_plasticbox	randomized	326,502	326,544	Grab the gold and red soda can and the can with red body and place them in the rectangular plasticbox	{ "{A}": "071_can/base1", "{B}": "062_plasticbox/base5", "{C}": "071_can/base6" }	10.282622	unseen	robotwin-eval-subset-v2-seen-unseen	place_cans_plasticbox__randomized__00
place_container_plate	clean	327,000	327,042	Position the container using the cup with tapered sides onto the medium round ceramic plate.	{ "{A}": "003_plate/base0", "{B}": "021_cup/base3", "{a}": "right" }	13.16068	seen	robotwin-eval-subset-v2-seen-unseen	place_container_plate__clean__00
place_container_plate	randomized	327,500	327,542	Set the container on the smooth round plate for serving with the ceramic cup featuring blue flower prints.	{ "{A}": "003_plate/base0", "{B}": "021_cup/base1", "{a}": "right" }	13.110243	unseen	robotwin-eval-subset-v2-seen-unseen	place_container_plate__randomized__00
place_dual_shoes	clean	328,003	328,045	Hold two the white shoe, tips left, and place in the bright orange shoe-box.	{ "{A}": "041_shoe/base9", "{B}": "007_shoe-box/base0" }	2.385523	seen	robotwin-eval-subset-v2-seen-unseen	place_dual_shoes__clean__00
place_dual_shoes	randomized	328,500	328,542	Grab a pair of the green shoe, place left tips in the orange box for keeping shoes.	{ "{A}": "041_shoe/base4", "{B}": "007_shoe-box/base0" }	15.13539	unseen	robotwin-eval-subset-v2-seen-unseen	place_dual_shoes__randomized__00
place_empty_cup	clean	329,000	329,042	Position the smooth blue drinking cup squarely on top of the flat surface gray wooden coaster.	{ "{A}": "021_cup/base0", "{B}": "019_coaster/base0" }	13.083916	seen	robotwin-eval-subset-v2-seen-unseen	place_empty_cup__clean__00
place_empty_cup	randomized	329,500	329,542	Use arm to set the handheld round blue cup on the disc-shaped light gray coaster	{ "{A}": "021_cup/base0", "{B}": "019_coaster/base0" }	12.839456	unseen	robotwin-eval-subset-v2-seen-unseen	place_empty_cup__randomized__00
place_fan	clean	330,000	330,042	Pick the white fan, align it toward the robot, and drop it on the Cyan mat.	{ "{A}": "099_fan/base4", "{B}": "Cyan", "{a}": "left" }	13.353436	seen	robotwin-eval-subset-v2-seen-unseen	place_fan__clean__00
place_fan	randomized	330,500	330,542	Use the left arm to grab the beige circular blade fan and place it on the Navy mat facing the robot.	{ "{A}": "099_fan/base5", "{B}": "Navy", "{a}": "left" }	14.13478	unseen	robotwin-eval-subset-v2-seen-unseen	place_fan__randomized__00
place_mouse_pad	clean	331,000	331,042	Lift the compact oval-shaped mouse and stick it on Gray mat.	{ "{A}": "047_mouse/base1", "{B}": "Gray", "{a}": "left" }	12.805156	seen	robotwin-eval-subset-v2-seen-unseen	place_mouse_pad__clean__00
place_mouse_pad	randomized	331,500	331,542	Pick the wireless mouse with left and right buttons and position it on the Black colored mat.	{ "{A}": "047_mouse/base2", "{B}": "Black", "{a}": "right" }	12.634269	unseen	robotwin-eval-subset-v2-seen-unseen	place_mouse_pad__randomized__00
place_object_basket	clean	332,002	332,044	Take the small playingcards container, set it in the plastic basket, shift the plastic basket lightly.	{ "{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right" }	1.849446	seen	robotwin-eval-subset-v2-seen-unseen	place_object_basket__clean__00
place_object_basket	randomized	332,500	332,542	Pick up the gold text on playing cards box and drop in the yellow basket with open slots.	{ "{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right" }	13.926392	unseen	robotwin-eval-subset-v2-seen-unseen	place_object_basket__randomized__00
place_object_scale	clean	333,000	333,042	Lift the dark mouse with slight textured sides and place on the compact white electronicscale	{ "{A}": "072_electronicscale/base5", "{B}": "047_mouse/base2", "{a}": "right" }	12.944518	seen	robotwin-eval-subset-v2-seen-unseen	place_object_scale__clean__00
place_object_scale	randomized	333,500	333,542	Grab the red plastic stapler and put it on the electronicscale with rectangular base	{ "{A}": "072_electronicscale/base6", "{B}": "048_stapler/base4", "{a}": "left" }	13.525442	unseen	robotwin-eval-subset-v2-seen-unseen	place_object_scale__randomized__00
place_object_stand	clean	334,000	334,042	Pick the rubikscube with smooth square tiles and place it carefully onto the medium-sized displaystand with smooth finish.	{ "{A}": "073_rubikscube/base1", "{B}": "074_displaystand/base2", "{a}": "right" }	14.500307	seen	robotwin-eval-subset-v2-seen-unseen	place_object_stand__clean__00
place_object_stand	randomized	334,500	334,542	Grab the dark gray wireless mouse, then place it on the black displaystand	{ "{A}": "047_mouse/base2", "{B}": "074_displaystand/base0", "{a}": "left" }	13.018824	unseen	robotwin-eval-subset-v2-seen-unseen	place_object_stand__randomized__00
place_phone_stand	clean	335,000	335,042	Move the silver phone with black screen onto the light brown phone holder.	{ "{A}": "077_phone/base1", "{B}": "078_phonestand/base2", "{a}": "right" }	12.521667	seen	robotwin-eval-subset-v2-seen-unseen	place_phone_stand__clean__00
place_phone_stand	randomized	335,500	335,542	Set the rectangular phone with curved edges on the adjustable phone holder.	{ "{A}": "077_phone/base2", "{B}": "078_phonestand/base1", "{a}": "left" }	13.001833	unseen	robotwin-eval-subset-v2-seen-unseen	place_phone_stand__randomized__00
place_shoe	clean	336,000	336,042	Use the left arm to pick up the medium-sized walking shoe from the table and drop it on the mat	{ "{A}": "041_shoe/base5", "{a}": "left" }	13.095368	seen	robotwin-eval-subset-v2-seen-unseen	place_shoe__clean__00
place_shoe	randomized	336,500	336,542	Use the right arm to grab the black shoe with white midsole from the table and place it on the mat	{ "{A}": "041_shoe/base0", "{a}": "right" }	13.188176	unseen	robotwin-eval-subset-v2-seen-unseen	place_shoe__randomized__00
press_stapler	clean	337,000	337,042	Push down on the red stapler with black base to staple	{ "{A}": "048_stapler/base4", "{a}": "left" }	12.220581	seen	robotwin-eval-subset-v2-seen-unseen	press_stapler__clean__00
press_stapler	randomized	337,501	337,543	Press down on the hand-size bright blue stapler with the right arm.	{ "{A}": "048_stapler/base6", "{a}": "right" }	0.879916	unseen	robotwin-eval-subset-v2-seen-unseen	press_stapler__randomized__00
put_bottles_dustbin	clean	338,000	338,042	Take the green-striped cap on yellow bottle, the bottle with turquoise cap, and the hand-sized drinking bottle one at a time and place them into the black dustbin.	{ "{A}": "114_bottle/base1", "{B}": "114_bottle/base2", "{C}": "114_bottle/base3", "{D}": "011_dustbin/base0" }	24.668371	seen	robotwin-eval-subset-v2-seen-unseen	put_bottles_dustbin__clean__00
put_bottles_dustbin	randomized	338,503	338,545	Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.	{ "{A}": "114_bottle/base1", "{B}": "114_bottle/base2", "{C}": "114_bottle/base3", "{D}": "011_dustbin/base0" }	11.944897	unseen	robotwin-eval-subset-v2-seen-unseen	put_bottles_dustbin__randomized__00
put_object_cabinet	clean	339,004	339,046	Place the smooth playingcards holder into the drawer of the storage cabinet after sliding it open.	{ "{A}": "081_playingcards/base0", "{B}": "036_cabinet/base0", "{a}": "left", "{b}": "right" }	2.306344	seen	robotwin-eval-subset-v2-seen-unseen	put_object_cabinet__clean__00
put_object_cabinet	randomized	339,525	339,567	Pull out the drawer of the cabinet with light wood panels and set the spongy golden brown bread into it.	{ "{A}": "075_bread/base5", "{B}": "036_cabinet/base0", "{a}": "left", "{b}": "right" }	3.026284	unseen	robotwin-eval-subset-v2-seen-unseen	put_object_cabinet__randomized__00
rotate_qrcode	clean	340,001	340,043	Pick the rectangular paymentsign with colorful top up and turn its QR code toward you using the left arm.	{ "{A}": "070_paymentsign/base0", "{a}": "left" }	1.011137	seen	robotwin-eval-subset-v2-seen-unseen	rotate_qrcode__clean__00
rotate_qrcode	randomized	340,500	340,542	Grab the paymentsign with angled stand, lift it, and turn it to face you	{ "{A}": "070_paymentsign/base0", "{a}": "right" }	13.166286	unseen	robotwin-eval-subset-v2-seen-unseen	rotate_qrcode__randomized__00
scan_object	clean	341,001	341,043	Hold the scanner with curved top and flat bottom in one arm and the gold accented tea-box in the other, then scan the gold accented tea-box with the scanner with curved top and flat bottom.	{ "{A}": "112_tea-box/base2", "{B}": "024_scanner/base2", "{a}": "left", "{b}": "right" }	2.114375	seen	robotwin-eval-subset-v2-seen-unseen	scan_object__clean__00
scan_object	randomized	341,502	341,544	Grab the handheld scanner, then pick up the red tea-box, and use the handheld scanner to scan the red tea-box.	{ "{A}": "112_tea-box/base1", "{B}": "024_scanner/base0", "{a}": "right", "{b}": "left" }	2.873501	unseen	robotwin-eval-subset-v2-seen-unseen	scan_object__randomized__00
shake_bottle	clean	342,002	342,044	Use the right arm to hold the bottle with dark brown color and shake it.	{ "{A}": "001_bottle/base15", "{a}": "right" }	5.38276	seen	robotwin-eval-subset-v2-seen-unseen	shake_bottle__clean__00
shake_bottle	randomized	342,502	342,544	Use the right arm to grab the white capped orange plastic bottle and shake.	{ "{A}": "001_bottle/base4", "{a}": "right" }	4.548114	unseen	robotwin-eval-subset-v2-seen-unseen	shake_bottle__randomized__00
shake_bottle_horizontally	clean	343,000	343,042	Shake the medium-sized plastic bottle from side to side.	{ "{A}": "001_bottle/base18", "{a}": "left" }	15.731809	seen	robotwin-eval-subset-v2-seen-unseen	shake_bottle_horizontally__clean__00
shake_bottle_horizontally	randomized	343,501	343,543	Grip the plastic soda bottle and shake it horizontally.	{ "{A}": "001_bottle/base13", "{a}": "left" }	3.263908	unseen	robotwin-eval-subset-v2-seen-unseen	shake_bottle_horizontally__randomized__00
stack_blocks_three	clean	344,000	344,042	Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.	{ "{A}": "red block", "{B}": "green block", "{C}": "blue block", "{a}": "left", "{b}": "right", "{c}": "left" }	15.564556	seen	robotwin-eval-subset-v2-seen-unseen	stack_blocks_three__clean__00
stack_blocks_three	randomized	344,500	344,542	Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.	{ "{A}": "red block", "{B}": "green block", "{C}": "blue block", "{a}": "left", "{b}": "right", "{c}": "right" }	15.287691	unseen	robotwin-eval-subset-v2-seen-unseen	stack_blocks_three__randomized__00
stack_blocks_two	clean	345,000	345,042	Place red block and green block together at the center, then stack green block on top.	{ "{A}": "red block", "{B}": "green block", "{a}": "left", "{b}": "right" }	15.62608	seen	robotwin-eval-subset-v2-seen-unseen	stack_blocks_two__clean__00
stack_blocks_two	randomized	345,500	345,542	Use the left arm to move red block to the center, then set the left arm and stack green block on red block.	{ "{A}": "red block", "{B}": "green block", "{a}": "left", "{b}": "left" }	14.255687	unseen	robotwin-eval-subset-v2-seen-unseen	stack_blocks_two__randomized__00
stack_bowls_three	clean	346,000	346,042	Lift each the ceramic bowl and stack it over the previous one.	{ "{A}": "002_bowl/base3" }	15.536604	seen	robotwin-eval-subset-v2-seen-unseen	stack_bowls_three__clean__00
stack_bowls_three	randomized	346,500	346,542	Grab the first the small smooth brown-rimmed bowl and stack the others on top.	{ "{A}": "002_bowl/base3" }	15.336307	unseen	robotwin-eval-subset-v2-seen-unseen	stack_bowls_three__randomized__00
stack_bowls_two	clean	347,000	347,042	Place the bowl with shiny texture on the surface, then stack the medium-sized bowl for holding food above it.	{ "{A}": "002_bowl/base3", "{B}": "002_bowl/base3", "{a}": "left", "{b}": "right" }	13.964334	seen	robotwin-eval-subset-v2-seen-unseen	stack_bowls_two__clean__00
stack_bowls_two	randomized	347,500	347,542	Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.	{ "{A}": "002_bowl/base3", "{B}": "002_bowl/base3", "{a}": "left", "{b}": "right" }	15.031084	unseen	robotwin-eval-subset-v2-seen-unseen	stack_bowls_two__randomized__00
stamp_seal	clean	348,000	348,042	With the left arm, secure the smooth rectangular seal and mark Maroon.	{ "{A}": "100_seal/base3", "{B}": "Maroon", "{a}": "left" }	13.194701	seen	robotwin-eval-subset-v2-seen-unseen	stamp_seal__clean__00
stamp_seal	randomized	348,500	348,542	Pick the red seal on rectangular base and press on Silver.	{ "{A}": "100_seal/base0", "{B}": "Silver", "{a}": "right" }	14.259053	unseen	robotwin-eval-subset-v2-seen-unseen	stamp_seal__randomized__00
turn_switch	clean	349,000	349,042	Deploy the left arm to operate the tiny matte beige toggle switch	{ "{A}": "056_switch/base1", "{a}": "left" }	12.828203	seen	robotwin-eval-subset-v2-seen-unseen	turn_switch__clean__00
turn_switch	randomized	349,502	349,544	Click the gray switch using the left arm	{ "{A}": "056_switch/base7", "{a}": "left" }	1.425934	unseen	robotwin-eval-subset-v2-seen-unseen	turn_switch__randomized__00

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RoboTwin frozen evaluation subset v2: seen + unseen

Default project evaluation subset from 2026-10-02 onward: 50 tasks × 2 settings × 10 episodes = 1,000 closed-loop episodes.

Group	Environment	Instruction pool	Episodes
clean2clean	clean	seen	500
clean2random	randomized	unseen	500

This repository publishes the immutable task specifications already released in GitHub PR #5. It is a development evaluation subset, not training demonstrations, simulator binaries, or the official hidden test set. No new evaluation scores are included.

The directory benchmarks/robotwin_eval_subset_v2_seen_unseen/ is byte-for-byte identical to GitHub data commit b5abe512dafd400736c6dca5905f2fd262dd9029, tag robotwin-eval-subset-v2-seen-unseen. Root documentation, archive and release receipt are packaging metadata outside that frozen directory. See release.json for checksums and the original package README for construction and provenance. Copied upstream RoboTwin material retains its MIT license.

Download and verify with uv

Pin an immutable HF commit (recorded in the project publication receipt and Notion) instead of relying on moving main:

uv tool run --from huggingface_hub hf download \
  ar-mine/robotwin-eval-subset-v2-seen-unseen --repo-type dataset \
  --revision <HF_COMMIT_SHA> \
  --include robotwin-eval-subset-v2-seen-unseen.tar.gz release.json \
  --local-dir eval-v2-download
# Extract into a clean directory; the tarball contains only the frozen package.
tar -xzf eval-v2-download/robotwin-eval-subset-v2-seen-unseen.tar.gz
uv run --python 3.12 python benchmarks/robotwin_eval_subset_v2_seen_unseen/verify.py
uv run --python 3.12 --with numpy==1.26.4 --with PyYAML==6.0.2 \
  python benchmarks/robotwin_eval_subset_v2_seen_unseen/rebuild_seen.py --check

The verifier checks all 452 hashed files, all 1,000 identities, the 500/500 quotas and the v1 pairing. The rebuild independently reconstructs the 500 clean seen instructions. Downloading only episodes.jsonl is insufficient for full package verification and runtime loading.

Runtime and comparison rules

Runtime protocol: hybrid_seen_unseen_v2_rt. Select this package explicitly using --subset-dir benchmarks/robotwin_eval_subset_v2_seen_unseen.
Use the runtime integration fix at GitHub commit 1b802ff6c97a2357364e0cc667ccc5f43b8d41ee or a compatible descendant, plus the deployment guide. The earlier data tag alone does not include that runtime fix.
The controller verifies Git provenance in addition to file hashes. For execution, use the package within a Git checkout containing its published data commit; an HF-only download is sufficient for inspection and integrity/rebuild checks, but is not a standalone simulation runtime.
Keep scene seeds, policy seeds, scene information, action limits and exact instruction strings frozen. Use (subset_id, episode_id) for cross-version identity.
Compared with v1, all 1,000 physical cases are unchanged. Only clean instructions change to the official seen pool; randomized instructions remain identical. Seen-pool membership does not prove literal training-sentence exposure.
Re-evaluate all 1,000 cases for each candidate. Do not reuse v1 randomized outcomes. Record normal policy failures; infrastructure retries only resume missing/invalid attempts of the same case.
Historical v1 scores (including epoch1 40.5%) remain historical v1 scores. They must not be relabelled as v2 or directly subtracted from v2 totals as a same-protocol comparison. The earlier 1,000-vs-10,000 validation is also v1 evidence.
v1 remains available for historical regressions; all future project evaluations default to this v2 package unless another protocol is explicitly specified. Final 10,000-episode assessment remains separate.

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