Dataset Overview
Definition：RoboTwin 2.0 Bimanual Collaborative Simulation Dataset是高保真Simulation Environment中生成的双臂协同操作Dataset，Coverage装配、搬运、折叠与协作等多类任务，配备深度图、实例分割与Physics接触标签，并内置域随机化配置，专门用于 sim-to-real 迁移与双臂协同策略训练。
| Dataset Name | RoboTwin 2.0 Bimanual Collaborative Simulation Dataset |
| Total Data Volume | 100,000+ pairs 双臂轨迹对 |
| Visual Modality | 合成 RGB-D，1920×1080，多视角 |
| 标签类型 | 深度、实例分割、物理接触点与接触力 |
| 任务覆盖 | 装配、搬运、折叠、双手协作与工具使用 |
| 域随机化 | 光照、纹理、物理参数与相机位姿随机化配置 |
| Scope of Application | sim-to-real 迁移、双臂协同策略、接触丰富型任务研究 |
Core Data Fields
pair_id— 双臂轨迹对标识与任务类型rgb_d— 多视角合成 RGB 与深度帧instance_seg— 实例分割掩码序列contact— 物理接触点与接触力标注bimanual_action— 左右臂统一动作序列domain_config— 域随机化参数快照
Annotation and Quality Inspection
- 仿真与真机动作空间对齐校验，确保迁移可用性
- 实例分割与接触标签自动预标注 + 人工抽检复核
- 域随机化配置完整性校验，保证训练分布覆盖
- 交付前全量格式与字段一致性检查
Applicable Scenarios and Delivery
| Applicable Scenarios | sim-to-real 迁移研究、双臂协同策略训练、接触丰富型操作任务、域随机化鲁棒性验证 |
| Delivery Format | 仿真数据包（RGB-D + 分割 + 接触标签）+ 域随机化配置 + JSON Metadata |
| Delivery Cycle | 4-6 Weeks |
| License Type | Commercial Use License + Data De-identification + Complete Authorization Documents |
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