RoboTwin dataset?

[chenkang455]

@RobbinW Thanks for your open-source work, it is a nice work! Can you open-source your built robotwin dataset? I notice it is not displayed in the project page.

[RobbinW]

Hi, thanks for your interest!

At this stage, we are only releasing the code/model. You may follow the official RoboTwin pipeline to generate the dataset according to your own task settings.

[chenkang455]

@RobbinW Thanks for your reply! May I ask when will this dataset be open-sourced? I'm trying to reproduce EVA, and the dataset seems to be a crucial component of the pipeline.

If the dataset is not publicly available, would it be possible to share some details on how it was constructed? Thank you very much for your help!

[RobbinW]

The dataset can be generated by following the official RoboTwin documentation, we do not plan to upload the dataset currently.

In our experiments, we used the demo_clean task config and a single-view Large_D435 camera at 640 × 480 resolution. The camera pose follows https://github.com/thu-ml/vidar-robotwin, where the camera is moved backward to provide a larger field of view.