yeeeiii111/robotwin-icl-paired-v3

RoboTwin ICL-paired v3

Cross-embodiment paired dataset on RoboTwin: 25 manipulation tasks rendered for 3 robots (arx-x5, franka, ur5) from a shared seed pool, so episode index i corresponds to the same scene/trajectory across all three robots.

Status (snapshot 2026-05-03)

13 tasks: 150 train + 50 val per robot.

scan_object click_bell place_empty_cup press_stapler click_alarmclock
place_container_plate stamp_seal move_pillbottle_pad place_fan
place_bread_skillet lift_pot place_phone_stand rotate_qrcode

12 tasks: 50 train + 5 val per robot (extension to 150/50 in progress).

grab_roller move_can_pot beat_block_hammer place_mouse_pad
place_object_scale move_stapler_pad place_object_stand
move_playingcard_away place_a2b_right place_a2b_left
adjust_bottle (low pair rate) turn_switch (low pair rate)

shared_seeds/<task>_seeds.txt lists every paired seed currently known per task.

Layout

<task>/
├── arx-x5/{train,val}/{data,video,_traj_data}/   # *.hdf5, *.mp4, *.pkl
├── franka/{train,val}/...
├── ur5/{train,val}/...
└── .work/                                        # rendering state, extension can resume from here
    ├── <robot>_round*/                           # planning rounds
    └── <robot>_traj_{train,val}/                 # per-split trajectory cache
shared_seeds/<task>_seeds.txt                     # cross-robot intersection

<task>/<robot>/{train,val}/seed.txt lists the seed used for each rendered episode (ordered by episode index).

Download

huggingface-cli download yeeeiii111/robotwin-icl-paired-v3 \
    --repo-type=dataset --local-dir data/robotwin/icl_paired

Tip: use huggingface-cli download ... --include 'scan_object/**' to fetch a single task.

Extending on a new machine

The pipeline that produced this snapshot lives at knightnemo/VAM_Learn_from_Human_Video, branch feature/robotwin-bootstrap-collection. See docs/robotwin_migration.md for environment setup and scripts/extend_*.sh for resume scripts. The shared_seeds + .work/ state is preserved so extension picks up exactly where it stopped.