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fix: integrate PR #3315 review feedback

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- ci: add Docker Hub login step, add HF_USER_TOKEN guard on eval step
- docker: tie patches to pinned versions with removal guidance, remove
  unnecessary HF_TOKEN for public dataset, fix hadolint warnings
- docs: fix paper link to arxiv, add teaser image, fix camera names
  (4→3 cameras), fix observation dims (480x640→240x320)

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Pepijn
2026-04-16 18:33:53 +02:00
parent ad9662b4a8
commit a4102ee86d
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docs/source/robotwin.mdx
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@@ -2,22 +2,30 @@
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).
- Paper: [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://robotwin-platform.github.io)
- Paper: [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://arxiv.org/abs/2504.13495)
- GitHub: [RoboTwin-Platform/RoboTwin](https://github.com/RoboTwin-Platform/RoboTwin)
- Leaderboard: [robotwin-platform.github.io/leaderboard](https://robotwin-platform.github.io/leaderboard)
- Dataset: [lerobot/robotwin_unified](https://huggingface.co/datasets/lerobot/robotwin_unified)
<div style={{ textAlign: "center" }}>
<img
src="https://robotwin-platform.github.io/static/images/teaser.png"
alt="RoboTwin 2.0 benchmark overview showing dual-arm manipulation tasks"
style={{ maxWidth: "100%" }}
/>
</div>
## Overview
| Property | Value |
| ------------- | ---------------------------------------------------------- |
| Tasks | 60 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`, `front_camera`, `left_wrist`, `right_wrist` |
| Simulator | SAPIEN (not MuJoCo) |
| Eval protocol | 100 episodes/task, 50 demo_clean demonstrations |
| Eval settings | **Easy** (`demo_clean`) and **Hard** (`demo_randomized`) |
| Property | Value |
| ------------- | -------------------------------------------------------- |
| Tasks | 60 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` |
| Simulator | SAPIEN (not MuJoCo) |
| Eval protocol | 100 episodes/task, 50 demo_clean demonstrations |
| Eval settings | **Easy** (`demo_clean`) and **Hard** (`demo_randomized`) |
## Available tasks
@@ -160,14 +168,13 @@ lerobot-eval \
## Camera configuration
By default, all four cameras are included:
By default, all three cameras are included:
| Camera key | Description |
| -------------- | ------------------------------ |
| `head_camera` | Overhead / third-person view |
| `front_camera` | Front-facing static camera |
| `left_wrist` | Left arm wrist-mounted camera |
| `right_wrist` | Right arm wrist-mounted camera |
| `head_camera` | Torso-mounted overhead view |
| `left_camera` | Left arm wrist-mounted camera |
| `right_camera` | Right arm wrist-mounted camera |
To use a subset of cameras, override `--env.camera_names`:
@@ -176,7 +183,7 @@ lerobot-eval \
--policy.path="your-hf-policy-id" \
--env.type=robotwin \
--env.task=beat_block_hammer \
--env.camera_names="head_camera,left_wrist,right_wrist" \
--env.camera_names="head_camera,left_camera" \
--eval.batch_size=1 \
--eval.n_episodes=10
```
@@ -185,15 +192,15 @@ lerobot-eval \
Key parameters for `RoboTwinEnvConfig`:
| Parameter | Default | Description |
| -------------------- | --------------------------------------------------- | ---------------------------------- |
| `task` | `"beat_block_hammer"` | Comma-separated task name(s) |
| `fps` | `25` | Simulation FPS |
| `episode_length` | `300` | Max steps per episode |
| `obs_type` | `"pixels_agent_pos"` | `"pixels"` or `"pixels_agent_pos"` |
| `camera_names` | `"head_camera,front_camera,left_wrist,right_wrist"` | Comma-separated active cameras |
| `observation_height` | `480` | Camera pixel height |
| `observation_width` | `640` | Camera pixel width |
| Parameter | Default | Description |
| -------------------- | ---------------------------------------- | ---------------------------------- |
| `task` | `"beat_block_hammer"` | Comma-separated task name(s) |
| `fps` | `25` | Simulation FPS |
| `episode_length` | `300` | Max steps per episode |
| `obs_type` | `"pixels_agent_pos"` | `"pixels"` or `"pixels_agent_pos"` |
| `camera_names` | `"head_camera,left_camera,right_camera"` | Comma-separated active cameras |
| `observation_height` | `240` | Camera pixel height |
| `observation_width` | `320` | Camera pixel width |
## Leaderboard submission