diff --git a/docs/source/robotwin.mdx b/docs/source/robotwin.mdx index 600afa45f..ad1db766f 100644 --- a/docs/source/robotwin.mdx +++ b/docs/source/robotwin.mdx @@ -1,6 +1,6 @@ # RoboTwin 2.0 -RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the SAPIEN physics engine. It provides a standardized evaluation protocol for bimanual robotic policies across 60 tasks with strong domain randomization (clutter, lighting, background, tabletop height, and language instructions). +RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the SAPIEN physics engine. It provides a standardized evaluation protocol for bimanual robotic policies across 50 tasks (as of upstream `main`) with strong domain randomization (clutter, lighting, background, tabletop height, and language instructions). - Paper: [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://arxiv.org/abs/2506.18088) - GitHub: [RoboTwin-Platform/RoboTwin](https://github.com/RoboTwin-Platform/RoboTwin) @@ -13,7 +13,7 @@ RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the S | Property | Value | | ------------- | -------------------------------------------------------- | -| Tasks | 60 dual-arm manipulation tasks | +| Tasks | 50 dual-arm manipulation tasks | | Robot | Aloha-AgileX bimanual (14 DOF, 7 per arm) | | Action space | 14-dim joint-space, continuous in `[-1, 1]` | | Cameras | `head_camera`, `left_camera`, `right_camera` | @@ -23,21 +23,31 @@ RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the S ## Available tasks -RoboTwin 2.0 ships with 60 dual-arm manipulation tasks. The full list appears on the [leaderboard](https://robotwin-platform.github.io/leaderboard). Example tasks: +RoboTwin 2.0 ships 50 dual-arm manipulation tasks in its upstream `envs/` directory. The canonical list is the `ROBOTWIN_TASKS` tuple in `src/lerobot/envs/robotwin.py`, mirrored verbatim from the upstream repo. Example tasks: -| Task | CLI name | Category | -| ---------------------- | ------------------------ | ---------------- | -| Beat block with hammer | `beat_block_hammer` | Tool use | -| Open / close laptop | `open_laptop` | Articulated obj | -| Stack blocks (2 / 3) | `stack_blocks_two/three` | Stacking | -| Pour water | `pour_water` | Deformable/fluid | -| Fold cloth | `fold_cloth` | Deformable | -| Handover block | `handover_block` | Bimanual coord. | -| Place shoes | `place_shoes_left/right` | Precision place | -| Scan object | `scan_object` | Mobile manip. | +| Task | CLI name | Category | +| ------------------------ | ------------------------ | ----------------- | +| Beat block with hammer | `beat_block_hammer` | Tool use | +| Click bell / alarm clock | `click_bell` | Precision press | +| Stack blocks (2 / 3) | `stack_blocks_two/three` | Stacking | +| Stack bowls (2 / 3) | `stack_bowls_two/three` | Stacking | +| Handover block / mic | `handover_block` | Bimanual coord. | +| Lift pot | `lift_pot` | Bimanual lift | +| Shake bottle | `shake_bottle` | Continuous motion | +| Turn switch | `turn_switch` | Articulated obj | +| Stamp seal | `stamp_seal` | Precision place | +| Scan object | `scan_object` | Mobile manip. | Pass a comma-separated list to `--env.task` to run multiple tasks in a single eval sweep. + + `open_laptop` is currently broken upstream (its `check_success()` uses + `self.arm_tag`, which is only set inside the scripted-expert `play_once()` + path and therefore unavailable during normal policy eval). Avoid it until the + upstream bug is fixed, or patch the task to default `self.arm_tag = "left"` in + `load_actors()`. + + ## Dataset The RoboTwin 2.0 dataset is available in **LeRobot v3.0 format** on the Hugging Face Hub: @@ -46,7 +56,7 @@ The RoboTwin 2.0 dataset is available in **LeRobot v3.0 format** on the Hugging lerobot/robotwin_unified ``` -It contains over 100,000 pre-collected trajectories across all 60 tasks (79.6 GB, Apache 2.0 license). No format conversion is needed — it is already in the correct LeRobot v3.0 schema with video observations and action labels. +It contains over 100,000 pre-collected trajectories across all 50 tasks (79.6 GB, Apache 2.0 license). No format conversion is needed — it is already in the correct LeRobot v3.0 schema with video observations and action labels. You can load it directly with the HF Datasets library: @@ -149,17 +159,23 @@ lerobot-eval \ --eval.n_episodes=100 ``` -### Full benchmark (all 60 tasks) +### Full benchmark (all 50 tasks) ```bash lerobot-eval \ --policy.path="your-hf-policy-id" \ --env.type=robotwin \ - --env.task=adjust_bottle,beat_block_hammer,blocks_ranking_rgb,blocks_ranking_size,click_alarmclock,click_bell,close_laptop,close_microwave,dump_bin,grab_roller,handover_block,handover_cup,handover_diverse_bottles,handover_mic,hanging_mug,insert_pin,lift_pot,make_tea,open_laptop,open_microwave,pick_diverse_bottles,pick_dual_bottles,place_basket,place_block,place_cable,place_can,place_chopsticks,place_cloth,place_container,place_cup,place_diverse_bottles,place_dual_bottles,place_fork,place_knife,place_object_basket,place_ring,place_ruler,place_shoes_left,place_shoes_right,place_spoon,place_toy,pour_water,press_stapler,put_bottles_dustbin,put_object_cabinet,put_shoes_box,rotate_qrcode,scan_object,shake_bottle,shake_bottle_horizontally,stack_blocks_three,stack_blocks_two,stack_bowls_three,stack_bowls_two,stamp_seal,turn_switch,wipe_board,arrange_tools,build_tower,fold_cloth \ + --env.task=adjust_bottle,beat_block_hammer,blocks_ranking_rgb,blocks_ranking_size,click_alarmclock,click_bell,dump_bin_bigbin,grab_roller,handover_block,handover_mic,hanging_mug,lift_pot,move_can_pot,move_pillbottle_pad,move_playingcard_away,move_stapler_pad,open_microwave,pick_diverse_bottles,pick_dual_bottles,place_a2b_left,place_a2b_right,place_bread_basket,place_bread_skillet,place_burger_fries,place_can_basket,place_cans_plasticbox,place_container_plate,place_dual_shoes,place_empty_cup,place_fan,place_mouse_pad,place_object_basket,place_object_scale,place_object_stand,place_phone_stand,place_shoe,press_stapler,put_bottles_dustbin,put_object_cabinet,rotate_qrcode,scan_object,shake_bottle,shake_bottle_horizontally,stack_blocks_three,stack_blocks_two,stack_bowls_three,stack_bowls_two,stamp_seal,turn_switch \ --eval.batch_size=1 \ --eval.n_episodes=100 ``` + + `open_laptop` is intentionally omitted above because of the upstream + `self.arm_tag` bug (see the **Available tasks** section). Re-add it once the + upstream fix lands. + + ## Camera configuration By default, all three cameras are included: diff --git a/src/lerobot/envs/configs.py b/src/lerobot/envs/configs.py index 739c1f96a..a85a9a2fe 100644 --- a/src/lerobot/envs/configs.py +++ b/src/lerobot/envs/configs.py @@ -581,7 +581,7 @@ class IsaaclabArenaEnv(HubEnvConfig): class RoboTwinEnvConfig(EnvConfig): """Configuration for RoboTwin 2.0 benchmark environments. - RoboTwin 2.0 is a dual-arm manipulation benchmark with 60 tasks built on the + RoboTwin 2.0 is a dual-arm manipulation benchmark with 50 tasks built on the SAPIEN simulator. The robot is an Aloha-AgileX bimanual platform with 14 DOF (7 per arm). All three cameras are enabled by default. diff --git a/src/lerobot/envs/robotwin.py b/src/lerobot/envs/robotwin.py index 48a74b2fe..5959b9738 100644 --- a/src/lerobot/envs/robotwin.py +++ b/src/lerobot/envs/robotwin.py @@ -44,7 +44,11 @@ DEFAULT_EPISODE_LENGTH = 300 DEFAULT_CAMERA_H = 240 DEFAULT_CAMERA_W = 320 -# Complete task list from RoboTwin 2.0 (60 tasks, as listed on the leaderboard). +# Task list from RoboTwin 2.0's `envs/` directory — mirrors upstream exactly +# (50 tasks as of main; earlier revisions had 60 with a different split). +# Keep this in sync with: +# gh api /repos/RoboTwin-Platform/RoboTwin/contents/envs --paginate \ +# | jq -r '.[].name' | grep -E '\.py$' | grep -v '^_' | sed 's/\.py$//' ROBOTWIN_TASKS: tuple[str, ...] = ( "adjust_bottle", "beat_block_hammer", @@ -52,46 +56,40 @@ ROBOTWIN_TASKS: tuple[str, ...] = ( "blocks_ranking_size", "click_alarmclock", "click_bell", - "close_laptop", - "close_microwave", - "dump_bin", + "dump_bin_bigbin", "grab_roller", "handover_block", - "handover_cup", - "handover_diverse_bottles", "handover_mic", "hanging_mug", - "insert_pin", "lift_pot", - "make_tea", + "move_can_pot", + "move_pillbottle_pad", + "move_playingcard_away", + "move_stapler_pad", "open_laptop", "open_microwave", "pick_diverse_bottles", "pick_dual_bottles", - "place_basket", - "place_block", - "place_cable", - "place_can", - "place_chopsticks", - "place_cloth", - "place_container", - "place_cup", - "place_diverse_bottles", - "place_dual_bottles", - "place_fork", - "place_knife", + "place_a2b_left", + "place_a2b_right", + "place_bread_basket", + "place_bread_skillet", + "place_burger_fries", + "place_can_basket", + "place_cans_plasticbox", + "place_container_plate", + "place_dual_shoes", + "place_empty_cup", + "place_fan", + "place_mouse_pad", "place_object_basket", - "place_ring", - "place_ruler", - "place_shoes_left", - "place_shoes_right", - "place_spoon", - "place_toy", - "pour_water", + "place_object_scale", + "place_object_stand", + "place_phone_stand", + "place_shoe", "press_stapler", "put_bottles_dustbin", "put_object_cabinet", - "put_shoes_box", "rotate_qrcode", "scan_object", "shake_bottle", @@ -102,10 +100,6 @@ ROBOTWIN_TASKS: tuple[str, ...] = ( "stack_bowls_two", "stamp_seal", "turn_switch", - "wipe_board", - "arrange_tools", - "build_tower", - "fold_cloth", )