| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - benchmark |
| - manipulation |
| - vla |
| - LeRobot |
| --- |
| |
| # DuoBench LeRobot Dataset |
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| 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. |
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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} |
| } |
| ``` |
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|
