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fix(robotwin): sync ROBOTWIN_TASKS + doc with upstream (50 tasks)

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The local ROBOTWIN_TASKS tuple drifted from upstream
RoboTwin-Platform/RoboTwin. Users passing names like `close_laptop`,
`close_microwave`, `dump_bin`, `place_block`, `pour_water`,
`fold_cloth`, etc. got past our validator (the names were in the
tuple) but then crashed inside robosuite with a confusing error,
because those tasks don't exist in upstream `envs/`.

- Replace ROBOTWIN_TASKS with a verbatim mirror of upstream's
  `envs/` directory: 50 tasks as of main (was 60 with many
  stale entries). Added a `gh api`-based one-liner comment so
  future bumps are mechanical.
- Update the `60 tasks` claims in robotwin.mdx and
  RoboTwinEnvConfig's docstring to `50`.
- Replace the stale example-task table in robotwin.mdx with ten
  upstream-confirmed examples, and flag `open_laptop` as
  temporarily broken (its `check_success()` uses `self.arm_tag`
  which is only set inside `play_once()`; eval-mode callers hit
  AttributeError).
- Rebuild the "Full benchmark" command with the actual 50-task
  list, omitting `open_laptop`.

Made-with: Cursor
This commit is contained in:
Pepijn
2026-04-17 15:29:57 +01:00
parent 9ead70f016
commit 46803e88bd
3 changed files with 59 additions and 49 deletions
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docs/source/robotwin.mdx
+32 -16
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@@ -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.
<Tip warning={true}>
`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()`.
</Tip>
## 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
```
<Tip>
`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.
</Tip>
## Camera configuration
By default, all three cameras are included: