RoboTwin 2.0：強力なドメインランダム化を備えた両腕ロボット操作のためのスケーラブルなデータ生成器とベンチマーク
RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
両腕ロボット操作のための大規模データ生成フレームワークを提案し、マルチモーダル言語モデルによるタスク生成と5軸のドメインランダム化で実世界への転移性能を大幅に向上させた。
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著者: Tianxing Chen, Zanxin Chen, Baijun Chen, Zijian Cai, Yibin Liu, Zixuan Li, Qiwei Liang, Xianliang Lin, Yiheng Ge, Zhenyu Gu, Weiliang Deng, Yubin Guo, Tian Nian, Xuanbing Xie, Qiangyu Chen, Kailun Su, Tianling Xu, Guodong Liu, Mengkang Hu, Huan-ang Gao, Kaixuan Wang, Zhixuan Liang, Yusen Qin, Xiaokang Yang, Ping Luo, Yao Mu
分類: cs.RO, cs.AI, cs.CL, cs.CV, cs.MA
原文アブストラクト
Simulation-based data synthesis has emerged as a powerful paradigm for advancing real-world robotic manipulation. Yet existing datasets remain insufficient for robust bimanual manipulation due to (1) the lack of scalable task generation methods and (2) oversimplified simulation environments. We present RoboTwin 2.0, a scalable framework for automated, large-scale generation of diverse and realistic data, together with unified evaluation protocols for dual-arm manipulation. At its core is RoboTwin-OD, an object library of 731 instances across 147 categories with semantic and manipulation-relevant annotations. Building on this, we design an expert data synthesis pipeline that leverages multimodal language models (MLLMs) and simulation-in-the-loop refinement to automatically generate task-level execution code. To improve sim-to-real transfer, RoboTwin 2.0 applies structured domain randomization along five axes: clutter, lighting, background, tabletop height, and language, enhancing data diversity and policy robustness. The framework is instantiated across 50 dual-arm tasks and five robot embodiments. Empirically, it yields a 10.9% gain in code generation success rate. For downstream policy learning, a VLA model trained with synthetic data plus only 10 real demonstrations achieves a 367% relative improvement over the 10-demo baseline, while zero-shot models trained solely on synthetic data obtain a 228% gain. These results highlight the effectiveness of RoboTwin 2.0 in strengthening sim-to-real transfer and robustness to environmental variations. We release the data generator, benchmark, dataset, and code to support scalable research in robust bimanual manipulation. Project Page: https://robotwin-platform.github.io/, Code: https://github.com/robotwin-Platform/robotwin/.
