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RoboTwin2.0-Paired-RGB-GT

Tasks:
Robotics
Tags:
robotwin
robot-learning
ground-truth
sapien
License:
Dataset card Files
xet
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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    TypeError
Message:      Couldn't cast array of type
struct<distill_valid_fraction: struct<max: double, mean: double, min: double>, frames: struct<max: double, mean: double, min: double>, official_endpose_max_abs: struct<max: double, mean: double, min: double>, official_extrinsic_max_abs: struct<max: double, mean: double, min: double>, official_intrinsic_rel: struct<max: double, mean: double, min: double>, official_joint_max_abs: struct<max: double, mean: double, min: double>, official_rgb_min_psnr_db: struct<max: double, mean: double, min: double>, projection_max_px: struct<max: double, mean: double, min: double>, rigidity_max_drift_m: struct<max: double, mean: double, min: double>, rigidity_pairs: struct<max: double, mean: double, min: double>, source_point_consistency_m: struct<max: double, mean: double, min: double>, source_valid_fraction: struct<max: double, mean: double, min: double>, static_max_displacement_m: struct<max: double, mean: double, min: double>, static_max_uv_px: struct<max: double, mean: double, min: double>, static_query_fraction: struct<max: double, mean: double, min: double>, uv_grid_max_err: struct<max: double, mean: double, min: double>, valid_behind_camera_fraction: struct<max: double, mean: double, min: double>, visible_fraction: struct<max: double, mean: double, min: double>>
to
{'distill_valid_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'frames': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_endpose_max_abs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_extrinsic_max_abs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_intrinsic_rel': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_joint_max_abs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_rgb_min_psnr_db': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'projection_max_px': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'rigidity_max_drift_m': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'rigidity_pairs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'source_point_consistency_m': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'source_valid_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'static_max_displacement_m': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'static_max_uv_px': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'static_query_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'uv_grid_max_err': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'visible_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}}
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2840, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2312, in cast_table_to_schema
                  cast_array_to_feature(
                  ~~~~~~~~~~~~~~~~~~~~~^
                      table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                      feature,
                      ^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1861, in wrapper
                  return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
                                           ~~~~^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2158, in cast_array_to_feature
                  raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
              TypeError: Couldn't cast array of type
              struct<distill_valid_fraction: struct<max: double, mean: double, min: double>, frames: struct<max: double, mean: double, min: double>, official_endpose_max_abs: struct<max: double, mean: double, min: double>, official_extrinsic_max_abs: struct<max: double, mean: double, min: double>, official_intrinsic_rel: struct<max: double, mean: double, min: double>, official_joint_max_abs: struct<max: double, mean: double, min: double>, official_rgb_min_psnr_db: struct<max: double, mean: double, min: double>, projection_max_px: struct<max: double, mean: double, min: double>, rigidity_max_drift_m: struct<max: double, mean: double, min: double>, rigidity_pairs: struct<max: double, mean: double, min: double>, source_point_consistency_m: struct<max: double, mean: double, min: double>, source_valid_fraction: struct<max: double, mean: double, min: double>, static_max_displacement_m: struct<max: double, mean: double, min: double>, static_max_uv_px: struct<max: double, mean: double, min: double>, static_query_fraction: struct<max: double, mean: double, min: double>, uv_grid_max_err: struct<max: double, mean: double, min: double>, valid_behind_camera_fraction: struct<max: double, mean: double, min: double>, visible_fraction: struct<max: double, mean: double, min: double>>
              to
              {'distill_valid_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'frames': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_endpose_max_abs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_extrinsic_max_abs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_intrinsic_rel': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_joint_max_abs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'official_rgb_min_psnr_db': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'projection_max_px': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'rigidity_max_drift_m': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'rigidity_pairs': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'source_point_consistency_m': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'source_valid_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'static_max_displacement_m': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'static_max_uv_px': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'static_query_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'uv_grid_max_err': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}, 'visible_fraction': {'max': Value('float64'), 'mean': Value('float64'), 'min': Value('float64')}}

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Paired RoboTwin 2.0 RGB and Simulator GT

RGB (three cameras), robot state/action and simulator-derived 3D point-track ground truth for RoboTwin 2.0 demonstrations, obtained by replaying every official episode in SAPIEN from its stored seed and planned joint paths (bit-identical to the official HDF5: joint angles, end-effector poses and camera extrinsics agree to float32 round-off) and reading depth, entity segmentation and every entity pose at each saved frame.

  • Source demonstrations: TianxingChen/RoboTwin2.0, aloha-agilex_clean_50 (demo_clean), 50 tasks.
  • RoboTwin checkout bf44be51 (RIFT evaluation pin), CuRobo d64c4b0, sapien 3.0.0b1.
  • 50 tasks, 2500 episodes, 552287 frames, 116.3 GB.
  • GT format: future-open-d4rt-paired-robotwin-gt-multigrid320-horizonbank16-v1 — same arrays schema as the LIBERO paired release (future-open-d4rt-paired-libero-gt-multigrid320-horizonbank16-v3): 320 fixed query pixels (8×8 legacy bank + 16×16 dense bank on the 256×256 resized head-camera view) × 16 horizon offsets (1..8,10,12,14,16,20,24,28,32) in saved-frame steps, with xyz_3d_Ct (metres, source-time camera frame, OpenCV axes), uv_2d, displacement_Ct, visibility_logit (±6) and validity masks. Apply distill_valid during supervision.

Layout

Each <task>_export_gt_paired_gt_lerobot/ is a LeRobot v2.1 dataset:

data/chunk-000/episode_NNNNNN.parquet       observation.state[14], action[14] (= state[t+1]), endposes, gripper, timestamps
videos/chunk-000/observation.images.cam_high|cam_left_wrist|cam_right_wrist/episode_NNNNNN.mp4   640×480 h264
gt/chunk-000/episode_NNNNNN.pt              GT envelope (torch.save dict; see `camera`, `semantics`, `self_test`, `arrays`)
meta/info.json, episodes.jsonl, tasks.jsonl, episodes_stats.jsonl, provenance.json, validation.json
.export-state/episode_NNNNNN.json           commit record with SHA-256 of every artifact

Conventions that differ from the LIBERO release are recorded in every envelope: OpenCV projection fx*X/Z+cx with no 180° rotation, principal point K[:2,2]-0.5 (SAPIEN half-pixel convention), query grid defined on the full 4:3 frame resized anisotropically to 256×256, source_body = SAPIEN per_scene_id (static entities collapsed to 0). fps=50 is a timestamp label; RoboTwin saves one frame every save_freq=15 physics steps.

Validation

Every episode passed future_open_d4rt.tools.validate_paired_robotwin_dataset: schema/mask invariants, uv_2d == project(xyz_3d_Ct), static-body zero displacement, rigid-body distance preservation, pairing (parquet/video/GT frame counts, action[t]==state[t+1]), per-episode self-tests (depth agreement, entity agreement at every horizon), and — against the official HDF5 — joint angles, end-effector poses, per-frame camera extrinsics/intrinsics and RGB PSNR (resized 640→320; ≥30 dB means only render/codec noise).

task episodes frames validated distill_valid proj err (px) rigidity (m) joint vs official extrinsic vs official RGB PSNR min (dB)
adjust_bottle 50 7238 PASS 0.917 9.3e-05 2.2e-07 2.7e-08 3.8e-08 37.1
beat_block_hammer 50 5732 PASS 0.895 4.6e-05 1.8e-07 2.7e-08 3.8e-08 36.8
blocks_ranking_rgb 50 23091 PASS 0.974 1.5e-04 2.3e-07 2.8e-08 3.8e-08 35.8
blocks_ranking_size 50 23220 PASS 0.974 1.4e-04 2.5e-07 2.8e-08 3.8e-08 36.4
click_alarmclock 50 4302 PASS 0.860 2.8e-05 1.3e-07 2.7e-08 3.8e-08 37.0
click_bell 50 3905 PASS 0.846 2.5e-05 1.2e-07 2.7e-08 3.8e-08 37.3
dump_bin_bigbin 50 12172 PASS 0.945 7.9e-05 3.2e-07 2.8e-08 3.8e-08 37.8
grab_roller 50 4778 PASS 0.874 1.7e-04 4.1e-07 2.7e-08 3.8e-08 35.7
handover_block 50 14134 PASS 0.958 8.2e-05 1.7e-07 2.8e-08 3.8e-08 36.1
handover_mic 50 11142 PASS 0.946 3.0e-05 1.6e-07 2.8e-08 3.8e-08 37.4
hanging_mug 50 16939 PASS 0.965 1.4e-04 2.1e-07 2.8e-08 3.8e-08 36.9
lift_pot 50 5604 PASS 0.893 2.8e-05 1.6e-07 2.9e-08 3.8e-08 34.1
move_can_pot 50 7618 PASS 0.921 2.9e-05 1.9e-07 2.8e-08 3.8e-08 35.5
move_pillbottle_pad 50 7395 PASS 0.918 4.9e-05 1.9e-07 2.8e-08 3.8e-08 36.5
move_playingcard_away 50 5934 PASS 0.899 4.0e-05 1.8e-07 2.8e-08 3.8e-08 37.6
move_stapler_pad 50 7799 PASS 0.923 4.2e-05 1.6e-07 2.8e-08 3.8e-08 37.0
open_laptop 50 10462 PASS 0.941 3.0e-05 3.4e-07 2.7e-08 3.8e-08 31.2
open_microwave 50 24383 PASS 0.974 2.6e-05 1.4e-07 2.8e-08 3.8e-08 38.1
pick_diverse_bottles 50 6110 PASS 0.902 6.0e-05 2.0e-07 2.7e-08 3.8e-08 36.0
pick_dual_bottles 50 6179 PASS 0.903 5.3e-05 2.0e-07 2.7e-08 3.8e-08 36.1
place_a2b_left 50 7501 PASS 0.920 5.6e-05 1.7e-07 2.8e-08 3.8e-08 36.3
place_a2b_right 50 7399 PASS 0.919 6.2e-05 1.8e-07 2.8e-08 3.8e-08 36.3
place_bread_basket 50 12006 PASS 0.948 1.1e-04 3.3e-07 2.8e-08 3.8e-08 35.9
place_bread_skillet 50 8327 PASS 0.928 2.9e-05 3.1e-07 2.8e-08 3.8e-08 35.7
place_burger_fries 50 12096 PASS 0.950 1.0e-04 1.4e-07 2.8e-08 3.8e-08 35.5
place_can_basket 50 12668 PASS 0.952 1.7e-04 3.2e-07 2.8e-08 3.8e-08 34.7
place_cans_plasticbox 50 14425 PASS 0.958 1.2e-04 3.2e-07 2.8e-08 3.8e-08 36.8
place_container_plate 50 7984 PASS 0.925 2.8e-05 1.8e-07 2.8e-08 3.8e-08 37.8
place_dual_shoes 50 11560 PASS 0.948 2.7e-04 2.6e-07 2.8e-08 3.8e-08 35.4
place_empty_cup 50 8667 PASS 0.931 2.8e-05 1.6e-07 3.0e-08 3.8e-08 36.4
place_fan 50 7408 PASS 0.919 6.0e-05 2.5e-07 2.8e-08 3.8e-08 36.5
place_mouse_pad 50 7581 PASS 0.921 3.9e-05 2.0e-07 2.8e-08 3.8e-08 36.8
place_object_basket 50 12348 PASS 0.951 1.4e-04 3.2e-07 2.8e-08 3.8e-08 35.3
place_object_scale 50 7316 PASS 0.918 3.6e-05 2.2e-07 2.8e-08 3.8e-08 36.4
place_object_stand 50 7002 PASS 0.914 2.9e-05 1.5e-07 2.8e-08 3.8e-08 36.6
place_phone_stand 50 6407 PASS 0.906 3.5e-05 1.5e-07 2.8e-08 3.8e-08 37.1
place_shoe 50 9032 PASS 0.933 2.5e-04 2.4e-07 2.8e-08 3.8e-08 35.7
press_stapler 50 6003 PASS 0.900 2.5e-05 1.9e-07 2.7e-08 3.8e-08 37.6
put_bottles_dustbin 50 31281 PASS 0.980 4.9e-05 1.9e-07 2.8e-08 3.8e-08 35.3
put_object_cabinet 50 13510 PASS 0.956 3.1e-05 2.1e-07 2.8e-08 3.8e-08 36.1
rotate_qrcode 50 7774 PASS 0.923 3.2e-05 1.9e-07 2.8e-08 3.8e-08 37.3
scan_object 50 8513 PASS 0.929 1.3e-04 2.1e-07 2.7e-08 3.8e-08 36.1
shake_bottle 50 12486 PASS 0.952 2.9e-05 2.0e-07 2.7e-08 3.8e-08 38.3
shake_bottle_horizontally 50 13961 PASS 0.957 2.9e-05 1.6e-07 2.7e-08 3.8e-08 38.2
stack_blocks_three 50 23669 PASS 0.975 1.5e-04 2.0e-07 2.8e-08 3.8e-08 36.3
stack_blocks_two 50 15697 PASS 0.962 1.5e-04 1.8e-07 2.8e-08 3.8e-08 36.3
stack_bowls_three 50 23600 PASS 0.975 9.5e-05 1.9e-07 2.8e-08 3.8e-08 37.7
stack_bowls_two 50 15687 PASS 0.962 7.7e-05 1.9e-07 2.8e-08 3.8e-08 37.4
stamp_seal 50 7329 PASS 0.918 4.4e-05 1.8e-07 2.8e-08 3.8e-08 36.7
turn_switch 50 4913 PASS 0.877 1.4e-04 2.3e-07 2.7e-08 3.8e-08 37.5

Known caveats: a "RGB appearance note" marks episodes whose geometry, joints and camera match the official data exactly but whose rendered RGB differs from the official frames in texture only (e.g. 015_laptop/base2's screen wallpaper is not applied by sapien 3.0.0b1's OBJ loader); GT is unaffected. Official HDF5 JPEGs are cv2-encoded (BGR when decoded with PIL) — the PSNR column decodes them the RoboTwin way; thin objects give ~0.85 entity agreement from silhouette pixels (flat over horizons, not drift); tasks that pick asset variants via glob() order were replayed with the variant ids recorded in the official scene_info.json (source_identity.model_id_overrides).

Generated by future_open_d4rt/tools/export_paired_robotwin_dataset.py; summary in release_summary.json.
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