| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - benchmark |
| - manipulation |
| - vla |
| --- |
| |
| # DuoBench Raw Dataset |
|
|
| This is the raw dataset collected for the FR3 Duo Benchmark [DuoBench](https://arxiv.org/abs/2606.11901). |
| The format is a raw parquet format that includes additional information such as robot state (real) and sim state (sim) which are filtered out for training. |
| If you are looking for the converted hugging face dataset ready for training, see [this dataset](https://huggingface.co/datasets/RobotControlStack/duobench). |
|
|
| You can also manually convert this raw dataset to the hugging face format with the following command: |
| ```shell |
| # install rcs: https://github.com/RobotControlStack/robot-control-stack |
| python -m rcs lerobot-convert <output_path> --dataset-path <path> --repo-id duobench/<task_id> --no-joints --camera head@224x224 --camera left_wrist@224x224 --camera right_wrist@224x224 --video-encoding --video-backend torchcodec --binarize-gripper --n 50 |
| ``` |
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|
| Project page: https://duobench.github.io/ |
| DuoBench Code: https://github.com/RobotControlStack/duobench |
|
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|
|
| ## 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} |
| } |
| ``` |
|
|
