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name: data-pipeline description: "Use RoboTwin datasets, collect demonstrations, validate XPolicyLab HDF5 trajectories, and convert legacy data layouts." metadata: disco-role: operating disable-model-invocation: true license: MIT

RoboTwin data pipeline

Use this sub-skill when the user asks about RoboTwin pre-collected data, data collection, trajectory layout, HDF5 validation, legacy data conversion, asset downloads, or preparing data for XPolicyLab/LeRobot workflows.

Route first

• For SAPIEN, Base_Task, robot/camera/config bootstrap, or render/backend setup, read simulation-core.
• For policy rollout/evaluation, scheduler configs, remote server mode, or action adapter shapes, read policy-eval.
• For adding new tasks or language templates, read task-authoring.

Main workflows

1. Use pre-collected data: prefer public XPolicyLab-format RoboTwin trajectories when the task is training or evaluation data preparation. Read workflows.md.
2. Collect demonstrations: use task/config/GPU arguments and verify simulation prerequisites first. Read workflows.md and troubleshooting.md.
3. Validate a trajectory file or downloaded layout: use scripts/inspect_xpolicylab_hdf5.py for one file and scripts/validate_download_layout.py for a downloaded task/config/embodiment directory.
4. Convert old raw data: read data-formats.md and the conversion section in workflows.md.
5. Create or bootstrap a standalone workspace: use the root workspace bootstrapper instead of expecting the original checkout.

Key layout facts

• Recommended downloaded/current collection layout:

  data/<task_config>/<task_name>/<embodiment>/
    data/episode_0000000.hdf5
    video/episode_0000000.mp4
    instruction/episode_0000000.json
  

• Legacy raw layout converted by the repository utility:

  data/<task_name>/<task_config>/data/episode0.hdf5
  

• Default config/embodiment examples: demo_clean, demo_randomized, aloha_agilex.

• Collection writes XPolicyLab trajectory HDF5 directly in current RoboTwin 2.0 paths.

Validation signals

• HDF5 contains data_format_version, state/, action/, vision/, and additional_info/frequency.
• Required state/action datasets have matching horizon lengths.
• RGB camera data lives under vision/cam_head/colors and optionally wrist camera groups.
• Instruction data exists as instruction or instructions.
• Downloaded layout contains at least one episode_0000000.hdf5; videos/instructions are useful but may be optional depending on archive version.

Safety

• Dataset download and asset download commands can be large and network-heavy; do not run them unless the user asks or the workspace clearly needs them.
• Data collection launches SAPIEN simulation and can use GPU/rendering resources; start with one small task/config before scaling.
• Do not delete stuck episodes or rewrite seed files unless the user explicitly wants data cleanup.