---
license: apache-2.0
task_categories:
- robotics
tags:
- benchmark
- manipulation
- vla
---

# DuoBench LeRobot Dataset

This is the dataset collected for the FR3 Duo Benchmark [DuoBench](https://arxiv.org/abs/2606.11901) in LeRobot format ready for training.
The dataset is a stripped down version from the [raw dataset](https://huggingface.co/datasets/RobotControlStack/duobench_raw) and only contains data required for VLA training.
Checkout the [raw dataset](https://huggingface.co/datasets/RobotControlStack/duobench_raw) if you are interested e.g. in franka states (real) and sim states.
The raw dataset repo also shows how to convert the data into this lerobot version.



Project page: https://duobench.github.io/
DuoBench Code: https://github.com/RobotControlStack/duobench


## Citation
If you find this dataset or DuoBench useful for your work, please consider citing it:
```
@misc{duobench,
  title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
  author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
  year={2026},
  url={https://arxiv.org/abs/2606.11901}
}
```