research-vla/RoboTwin2.0-Paired-RGB-GT

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… See the full description on the dataset page: https://huggingface.co/datasets/research-vla/RoboTwin2.0-Paired-RGB-GT.

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