task stringclasses 8
values | episode int64 0 3 | cosmos_video stringlengths 28 35 | sim_video stringlengths 25 32 | depth_video stringlengths 27 34 | preview_video stringlengths 29 36 | prompt_file stringlengths 33 40 | caption_file stringlengths 34 41 | source stringlengths 74 81 | true_scene_from_instructions stringlengths 137 420 | rewrite_seed int64 2.03k 2.38k | transfer_seed int64 2.03k 2.03k | prompt stringlengths 236 1.07k |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
adjust_bottle | 0 | cosmos/adjust_bottle/ep000.mp4 | sim/adjust_bottle/ep000.mp4 | depth/adjust_bottle/ep000.mp4 | preview/adjust_bottle/ep000.mp4 | text/adjust_bottle/ep000/prompt.txt | text/adjust_bottle/ep000/caption.txt | RoboTwin 2.0 demo_clean/adjust_bottle/aloha_agilex/video/episode_0000000.mp4 | Pick the bottle with ridges near base head-up using the left armLift the medium green bottle with capped neck from the table.Pick the bottle with rounded neck upright from the table | 2,025 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a medium green bottle with a capped neck and a bottle with ridges near the base on a sleek marble table. The robotic arm, marked 'AGILE X', picks the bottle with ridges n... |
beat_block_hammer | 0 | cosmos/beat_block_hammer/ep000.mp4 | sim/beat_block_hammer/ep000.mp4 | depth/beat_block_hammer/ep000.mp4 | preview/beat_block_hammer/ep000.mp4 | text/beat_block_hammer/ep000/prompt.txt | text/beat_block_hammer/ep000/caption.txt | RoboTwin 2.0 demo_clean/beat_block_hammer/aloha_agilex/video/episode_0000000.mp4 | Use the medium-sized metal hammer to hammer the block.Take the hammer with two-tone handle and beat the blockUse the yellow and black hammer grip to beat after grabbing with the left arm | 2,075 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a small red cube and a yellow and black screwdriver on a marble surface. The setting is a room with a polished marble surface, which reflects overhead lights and provides... |
pick_dual_bottles | 0 | cosmos/pick_dual_bottles/ep000.mp4 | sim/pick_dual_bottles/ep000.mp4 | depth/pick_dual_bottles/ep000.mp4 | preview/pick_dual_bottles/ep000.mp4 | text/pick_dual_bottles/ep000/prompt.txt | text/pick_dual_bottles/ep000/caption.txt | RoboTwin 2.0 demo_clean/pick_dual_bottles/aloha_agilex/video/episode_0000000.mp4 | Grab the brown bottle with red label with an arm, grab the bottle with ridges near base next.Lift the smooth bottle with red lid in one hand and the plastic bottle in the other.Reach for the narrow-necked bottle, then grab the bottle with white printed label. | 2,125 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features two soda bottles, one with a red label and the other with a green label, placed on a marble table. The camera angle is slightly elevated, providing a clear view of the bottles' labels and their shadows cast o... |
place_burger_fries | 0 | cosmos/place_burger_fries/ep000.mp4 | sim/place_burger_fries/ep000.mp4 | depth/place_burger_fries/ep000.mp4 | preview/place_burger_fries/ep000.mp4 | text/place_burger_fries/ep000/prompt.txt | text/place_burger_fries/ep000/caption.txt | RoboTwin 2.0 demo_clean/place_burger_fries/aloha_agilex/video/episode_0000000.mp4 | Take the hand-sized orange hamburg and the Red fries box to the plastic tray for holding items and set them there.Lift the rounded hamburg with painted details and the Handheld fries pack bright red color, placing them neatly on the bright orange tray with glossy finish.Using dual arms, lift the yellow marked white and... | 2,175 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a small, round object resembling a toy or food item and a red container with a yellow arch symbol. The setting is a room with a polished marble table, which reflects over... |
open_laptop | 0 | cosmos/open_laptop/ep000.mp4 | sim/open_laptop/ep000.mp4 | depth/open_laptop/ep000.mp4 | preview/open_laptop/ep000.mp4 | text/open_laptop/ep000/prompt.txt | text/open_laptop/ep000/caption.txt | RoboTwin 2.0 demo_clean/open_laptop/aloha_agilex/video/episode_0000000.mp4 | Lift and open the laptop with black textured screen.Gently lift the smooth textured laptop using the left armRaise and open the smooth textured laptop. | 2,225 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a black textured laptop. The setting is a room with a dark wooden table, which provides a warm, natural backdrop for the activity. The robotic arm, marked 'AGILE X', is p... |
move_can_pot | 0 | cosmos/move_can_pot/ep000.mp4 | sim/move_can_pot/ep000.mp4 | depth/move_can_pot/ep000.mp4 | preview/move_can_pot/ep000.mp4 | text/move_can_pot/ep000/prompt.txt | text/move_can_pot/ep000/caption.txt | RoboTwin 2.0 demo_clean/move_can_pot/aloha_agilex/video/episode_0000000.mp4 | Pick the brown top sauce can and position it next to the kitchenpot with smooth metallic lidLift the metal sauce can using the right arm and drop it beside the medium silver pot for cookingGrab the sauce can with ingredient information and move it close to the cooking pot with snug-fitting lid | 2,275 | 2,025 | The video clip shows a close-up of a marble countertop with a silver-colored rice cooker featuring a black handle and a gray lid. To the right of the rice cooker, there's a jar with a yellow label and a brown lid, which appears to be a sauce can. The lighting in the scene is bright, casting soft shadows on the marble s... |
rotate_qrcode | 0 | cosmos/rotate_qrcode/ep000.mp4 | sim/rotate_qrcode/ep000.mp4 | depth/rotate_qrcode/ep000.mp4 | preview/rotate_qrcode/ep000.mp4 | text/rotate_qrcode/ep000/prompt.txt | text/rotate_qrcode/ep000/caption.txt | RoboTwin 2.0 demo_clean/rotate_qrcode/aloha_agilex/video/episode_0000000.mp4 | Pick up the rectangular plastic paymentsign and adjust its position to face the qrcode towards you.Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward | 2,325 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a rectangular plastic payment sign. The setting is a room with a marble table, which reflects ambient lighting and provides a smooth, elegant backdrop for the activity. T... |
grab_roller | 0 | cosmos/grab_roller/ep000.mp4 | sim/grab_roller/ep000.mp4 | depth/grab_roller/ep000.mp4 | preview/grab_roller/ep000.mp4 | text/grab_roller/ep000/prompt.txt | text/grab_roller/ep000/caption.txt | RoboTwin 2.0 demo_clean/grab_roller/aloha_agilex/video/episode_0000000.mp4 | Lift the light brown wooden roller off the table with both armsHold the medium-sized roller from the table.Grab the medium-sized roller directly from the table. | 2,375 | 2,025 | The video clip features a close-up view of two robotic arms, each equipped with a gripper, positioned on either side of a wooden roller placed horizontally in the center. The background is a plain white surface. The table is a smooth marble surface, providing a clean backdrop for the robotic arms' coordinated movement ... |
adjust_bottle | 1 | cosmos/adjust_bottle/ep001.mp4 | sim/adjust_bottle/ep001.mp4 | depth/adjust_bottle/ep001.mp4 | preview/adjust_bottle/ep001.mp4 | text/adjust_bottle/ep001/prompt.txt | text/adjust_bottle/ep001/caption.txt | RoboTwin 2.0 demo_clean/adjust_bottle/aloha_agilex/video/episode_0000001.mp4 | Raise the plastic drink bottle from the table using the correct arm, the left arm.Grab the bottle with ridges on bottom from the table and hold it head-up.Pick the dark drink bottle with logo and keep it upright | 2,026 | 2,025 | The video features a robotic arm with the label 'AGILE' on its body, approaching a plastic bottle of Coca-Cola lying on a marble table. The robot's gripper is initially open and then closes around the bottle, lifting it off the ground. As the robot lifts the bottle, its shadow is cast onto the marble surface, indicatin... |
beat_block_hammer | 1 | cosmos/beat_block_hammer/ep001.mp4 | sim/beat_block_hammer/ep001.mp4 | depth/beat_block_hammer/ep001.mp4 | preview/beat_block_hammer/ep001.mp4 | text/beat_block_hammer/ep001/prompt.txt | text/beat_block_hammer/ep001/caption.txt | RoboTwin 2.0 demo_clean/beat_block_hammer/aloha_agilex/video/episode_0000001.mp4 | Lift the black and yellow hammer grip and hit the blockMake the right arm grab the medium-sized metal hammer and strike the block.Take the silver hammer and strike the block | 2,076 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a black and yellow hammer. The setting is a room with a polished marble table, which provides a sleek, reflective surface. The robotic arm, marked 'AGILE X', is positione... |
pick_dual_bottles | 1 | cosmos/pick_dual_bottles/ep001.mp4 | sim/pick_dual_bottles/ep001.mp4 | depth/pick_dual_bottles/ep001.mp4 | preview/pick_dual_bottles/ep001.mp4 | text/pick_dual_bottles/ep001/prompt.txt | text/pick_dual_bottles/ep001/caption.txt | RoboTwin 2.0 demo_clean/pick_dual_bottles/aloha_agilex/video/episode_0000001.mp4 | Lift the long thin bottle and the green bottle with indented base simultaneously with both arms.Pick the medium dark brown bottle first, then pick the bottle with rounded neck.Hold the hand-sized soda bottle and the bottle with ridges near base using both arms separately. | 2,126 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a medium dark brown bottle and a green bottle with an indented base. The setting is a room with a polished marble table surface, which reflects ambient lighting and provi... |
place_burger_fries | 1 | cosmos/place_burger_fries/ep001.mp4 | sim/place_burger_fries/ep001.mp4 | depth/place_burger_fries/ep001.mp4 | preview/place_burger_fries/ep001.mp4 | text/place_burger_fries/ep001/prompt.txt | text/place_burger_fries/ep001/caption.txt | RoboTwin 2.0 demo_clean/place_burger_fries/aloha_agilex/video/episode_0000001.mp4 | Set the hand-sized orange hamburg and the Small red box fries inside on the light beige smooth tray using two arms.Using both arms, pick the decorative rounded hamburg and the Palm-sized red fries container and drop them on the tray with smooth plastic surface.Grab the orange hamburg and the Bright red box with fries i... | 2,176 | 2,025 | The video depicts a robotic arm, labeled 'AGILE X', performing a task on a wooden table surface. Initially, the arm is positioned above an empty beige tray. A small, round object with orange and white colors is placed to the left of the tray. The robotic arm then moves towards the object, grasps it with its black gripp... |
open_laptop | 1 | cosmos/open_laptop/ep001.mp4 | sim/open_laptop/ep001.mp4 | depth/open_laptop/ep001.mp4 | preview/open_laptop/ep001.mp4 | text/open_laptop/ep001/prompt.txt | text/open_laptop/ep001/caption.txt | RoboTwin 2.0 demo_clean/open_laptop/aloha_agilex/video/episode_0000001.mp4 | Pull the medium foldable silver laptop's lid upward.Use the right arm to open the black and silver laptopUse the right arm to lift the black and silver laptop | 2,226 | 2,025 | The video showcases a robotic arm with a gripper mechanism interacting with a plastic bottle on a marble table. The arm precisely lifts the bottle, highlighting its control. The environment is a clean, well-lit workspace with a sleek marble surface. The focus remains on the arm's interaction with the bottle, emphasizin... |
move_can_pot | 1 | cosmos/move_can_pot/ep001.mp4 | sim/move_can_pot/ep001.mp4 | depth/move_can_pot/ep001.mp4 | preview/move_can_pot/ep001.mp4 | text/move_can_pot/ep001/prompt.txt | text/move_can_pot/ep001/caption.txt | RoboTwin 2.0 demo_clean/move_can_pot/aloha_agilex/video/episode_0000001.mp4 | Grab the sauce can with rounded top cap, move it, and place by the silver pot with matching lidUsing the left arm, lift the small metal sauce container and place it by the metallic pot with plastic handlesMove the small metal sauce container from its spot to near the metallic pot with matte finish | 2,276 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a small metal sauce can with a rounded top cap and a metallic pot with a matching lid. The setting is a room with a polished stainless steel countertop, which reflects ov... |
rotate_qrcode | 1 | cosmos/rotate_qrcode/ep001.mp4 | sim/rotate_qrcode/ep001.mp4 | depth/rotate_qrcode/ep001.mp4 | preview/rotate_qrcode/ep001.mp4 | text/rotate_qrcode/ep001/prompt.txt | text/rotate_qrcode/ep001/caption.txt | RoboTwin 2.0 demo_clean/rotate_qrcode/aloha_agilex/video/episode_0000001.mp4 | Catch the small paymentsign for mobile payments with the right arm, then rotate it to make the QR code visible.Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to yo... | 2,326 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a paymentsign on a wooden table. The robotic arm, marked 'AGILE X', approaches the paymentsign, grasps it, and rotates it to align the QR code. The camera remains static,... |
grab_roller | 1 | cosmos/grab_roller/ep001.mp4 | sim/grab_roller/ep001.mp4 | depth/grab_roller/ep001.mp4 | preview/grab_roller/ep001.mp4 | text/grab_roller/ep001/prompt.txt | text/grab_roller/ep001/caption.txt | RoboTwin 2.0 demo_clean/grab_roller/aloha_agilex/video/episode_0000001.mp4 | Take hold of the wood roller with arms.Pick up the solid wood roller from the table.Lift the cylindrical roller with tapered ends from the table carefully. | 2,376 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features two black and white mechanical arms with the brand name 'AGILE' visible on them. These arms are positioned on either side of a wood roller, which appears to be a cylindrical roller with tapered ends. The sett... |
adjust_bottle | 2 | cosmos/adjust_bottle/ep002.mp4 | sim/adjust_bottle/ep002.mp4 | depth/adjust_bottle/ep002.mp4 | preview/adjust_bottle/ep002.mp4 | text/adjust_bottle/ep002/prompt.txt | text/adjust_bottle/ep002/caption.txt | RoboTwin 2.0 demo_clean/adjust_bottle/aloha_agilex/video/episode_0000002.mp4 | Use the left arm to pick the hand-sized soda bottle up and keep it head-up.Pick the plastic drink bottle upright from the tableGrab the narrow-necked bottle and lift it with the left arm | 2,027 | 2,025 | The video features a close-up of a black and red plastic bottle lying on its side on a marble table. A robotic arm with a gripper attachment approaches the bottle from the left side of the frame. The gripper, labeled 'AGILE X', is white with black accents and has a claw-like design. As the robot moves closer, it carefu... |
beat_block_hammer | 2 | cosmos/beat_block_hammer/ep002.mp4 | sim/beat_block_hammer/ep002.mp4 | depth/beat_block_hammer/ep002.mp4 | preview/beat_block_hammer/ep002.mp4 | text/beat_block_hammer/ep002/prompt.txt | text/beat_block_hammer/ep002/caption.txt | RoboTwin 2.0 demo_clean/beat_block_hammer/aloha_agilex/video/episode_0000002.mp4 | Grab the handheld medium claw hammer using the left arm and hit the blockCatch the grippy handle hammer and use it on the block.Pick up the medium-sized metal hammer and use it on the block | 2,077 | 2,025 | The video clip features a close-up view of a robotic arm, specifically the 'AGILE' brand, interacting with objects on a wooden table. Initially, we see a red cube and a screwdriver lying next to each other. The robotic arm enters the frame from the left side, equipped with a black gripper. It approaches the screwdriver... |
pick_dual_bottles | 2 | cosmos/pick_dual_bottles/ep002.mp4 | sim/pick_dual_bottles/ep002.mp4 | depth/pick_dual_bottles/ep002.mp4 | preview/pick_dual_bottles/ep002.mp4 | text/pick_dual_bottles/ep002/prompt.txt | text/pick_dual_bottles/ep002/caption.txt | RoboTwin 2.0 demo_clean/pick_dual_bottles/aloha_agilex/video/episode_0000002.mp4 | Hold the red-capped bottle in one hand, then hold the plastic bottle in the other.Grab the smooth bottle with red lid with one arm, the bottle with white printed label with the other.Catch the narrow-necked bottle with one arm, then grab the handheld green bottle. | 2,127 | 2,025 | The video is a close-up of two soda bottles, one with a red label and the other with a green label, placed on a marble table. The camera angle is from above, capturing the shadows of the bottles and a hand reaching towards them. The hand appears to be wearing black gloves and is positioned between the two bottles. As t... |
place_burger_fries | 2 | cosmos/place_burger_fries/ep002.mp4 | sim/place_burger_fries/ep002.mp4 | depth/place_burger_fries/ep002.mp4 | preview/place_burger_fries/ep002.mp4 | text/place_burger_fries/ep002/prompt.txt | text/place_burger_fries/ep002/caption.txt | RoboTwin 2.0 demo_clean/place_burger_fries/aloha_agilex/video/episode_0000002.mp4 | Place the hamburg with smooth paper wrapping and the Palm-sized red fries container together onto the rectangular tray.Use both arms to move the hand-sized hamburg and the Golden fries crispy red package container to the medium-sized dark brown tray.Grab the small soft hamburg in paper, grab the Light yellow fries in r... | 2,177 | 2,025 | The video is a demonstration of robotic manipulation, likely in a controlled laboratory setting. It features a single robotic arm, labeled 'AGILE X', interacting with a medium-sized dark brown tray with a smooth surface. The tray holds a small soft hamburg in paper wrapping and a palm-sized red fries container. The rob... |
open_laptop | 2 | cosmos/open_laptop/ep002.mp4 | sim/open_laptop/ep002.mp4 | depth/open_laptop/ep002.mp4 | preview/open_laptop/ep002.mp4 | text/open_laptop/ep002/prompt.txt | text/open_laptop/ep002/caption.txt | RoboTwin 2.0 demo_clean/open_laptop/aloha_agilex/video/episode_0000002.mp4 | Lift the silver laptop lid completely.Pull open the medium foldable silver laptopLift the laptop with wood panel background to open it up | 2,227 | 2,025 | The video shows a robotic arm labeled 'AGILE' lifting a silver laptop lid, with the laptop resting on a marble table. The smooth, cool surface of the table reflects the lighting, emphasizing the precision of the arm's movements as it opens the laptop. The background remains clean, focusing on the interaction between th... |
move_can_pot | 2 | cosmos/move_can_pot/ep002.mp4 | sim/move_can_pot/ep002.mp4 | depth/move_can_pot/ep002.mp4 | preview/move_can_pot/ep002.mp4 | text/move_can_pot/ep002/prompt.txt | text/move_can_pot/ep002/caption.txt | RoboTwin 2.0 demo_clean/move_can_pot/aloha_agilex/video/episode_0000002.mp4 | Lift the cylindrical sauce can, place it by the kitchenpot with two side handlesPick the red sauce can for holding condiments and position it next to the grey kitchenpot with dark circle insideSet the red plastic sauce can right next to the matte-finished kitchenpot | 2,277 | 2,025 | The video shows a red plastic sauce can being lifted and placed next to a grey kitchenpot with a dark circle. The action occurs on a dark wood table, with natural lighting highlighting the objects and creating a warm, textured backdrop. |
rotate_qrcode | 2 | cosmos/rotate_qrcode/ep002.mp4 | sim/rotate_qrcode/ep002.mp4 | depth/rotate_qrcode/ep002.mp4 | preview/rotate_qrcode/ep002.mp4 | text/rotate_qrcode/ep002/prompt.txt | text/rotate_qrcode/ep002/caption.txt | RoboTwin 2.0 demo_clean/rotate_qrcode/aloha_agilex/video/episode_0000002.mp4 | Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.Lift the small payment stand with black base with the right arm, then rotate it to make the qrcode visible.Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you. | 2,327 | 2,025 | The video showcases a robotic arm with a gripper, which is initially positioned above a flat, rectangular object on a marble table. The robot's arm moves downward, grasping the object with its gripper. As it lifts the object, a QR code becomes visible on the underside of the item. The robot then rotates the object slig... |
grab_roller | 2 | cosmos/grab_roller/ep002.mp4 | sim/grab_roller/ep002.mp4 | depth/grab_roller/ep002.mp4 | preview/grab_roller/ep002.mp4 | text/grab_roller/ep002/prompt.txt | text/grab_roller/ep002/caption.txt | RoboTwin 2.0 demo_clean/grab_roller/aloha_agilex/video/episode_0000002.mp4 | Hold the wood roller from the table.Grasp the wooden rolling tool firmly from the table.Grasp the roller with polished surface on the table. | 2,377 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features two robotic arms labeled 'AGILE X' interacting with a wooden roller placed centrally on a marble surface. The environment is minimalistic, with a neutral marble backdrop that emphasizes the precise movements ... |
adjust_bottle | 3 | cosmos/adjust_bottle/ep003.mp4 | sim/adjust_bottle/ep003.mp4 | depth/adjust_bottle/ep003.mp4 | preview/adjust_bottle/ep003.mp4 | text/adjust_bottle/ep003/prompt.txt | text/adjust_bottle/ep003/caption.txt | RoboTwin 2.0 demo_clean/adjust_bottle/aloha_agilex/video/episode_0000003.mp4 | Pick up the narrow-necked bottle upright from the tableLift the Coca-Cola bottle using the left arm and hold uprightPick the medium dark brown bottle and keep it upright | 2,028 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a Coca-Cola bottle. The setting is a room with a polished stainless steel countertop, which reflects overhead lights and provides a sterile, metallic backdrop for the act... |
beat_block_hammer | 3 | cosmos/beat_block_hammer/ep003.mp4 | sim/beat_block_hammer/ep003.mp4 | depth/beat_block_hammer/ep003.mp4 | preview/beat_block_hammer/ep003.mp4 | text/beat_block_hammer/ep003/prompt.txt | text/beat_block_hammer/ep003/caption.txt | RoboTwin 2.0 demo_clean/beat_block_hammer/aloha_agilex/video/episode_0000003.mp4 | Grab the hammer with claw-shaped end with the right arm and strike blockHold the grippy handle hammer then hit the blockGrab the black and yellow hammer grip and use it to hit | 2,078 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a black and yellow hammer. The setting is a room with a polished stainless steel table, which reflects overhead lights and provides a sterile, metallic backdrop for the a... |
pick_dual_bottles | 3 | cosmos/pick_dual_bottles/ep003.mp4 | sim/pick_dual_bottles/ep003.mp4 | depth/pick_dual_bottles/ep003.mp4 | preview/pick_dual_bottles/ep003.mp4 | text/pick_dual_bottles/ep003/prompt.txt | text/pick_dual_bottles/ep003/caption.txt | RoboTwin 2.0 demo_clean/pick_dual_bottles/aloha_agilex/video/episode_0000003.mp4 | Hold the bottle with ridges on bottom in one hand and the medium green bottle with capped neck in another.Raise the Coca-Cola bottle first, then grab the medium green bottle with capped neck next.Pick up the red-capped bottle and the plastic bottle together. | 2,128 | 2,025 | The video clip features a close-up view of a red-capped bottle, a medium green bottle with a capped neck, and a plastic bottle placed on a polished marble surface. The camera angle is slightly elevated, providing a clear view of the bottles' labels and their shadows cast on the surface below. As the clip progresses, ro... |
place_burger_fries | 3 | cosmos/place_burger_fries/ep003.mp4 | sim/place_burger_fries/ep003.mp4 | depth/place_burger_fries/ep003.mp4 | preview/place_burger_fries/ep003.mp4 | text/place_burger_fries/ep003/prompt.txt | text/place_burger_fries/ep003/caption.txt | RoboTwin 2.0 demo_clean/place_burger_fries/aloha_agilex/video/episode_0000003.mp4 | Transfer the rectangular hamburg with rounded edges and the Golden fries sticks in red carton to the single-piece dark green tray with both armsUsing both arms, grab the white wrapper enclosing golden hamburg and the Potato fries packaged in red carton for the tray for serving items.Take the soft hamburg with smooth wr... | 2,178 | 2,025 | The video depicts a robotic arm, labeled 'AGILEX,' positioned above a dark green tray on a stainless steel table. Initially, the tray contains a rectangular hamburg with rounded edges and a portion of Golden fries in a red carton. The robot arm, equipped with a gripper, moves towards the hamburg, picks it up, and place... |
open_laptop | 3 | cosmos/open_laptop/ep003.mp4 | sim/open_laptop/ep003.mp4 | depth/open_laptop/ep003.mp4 | preview/open_laptop/ep003.mp4 | text/open_laptop/ep003/prompt.txt | text/open_laptop/ep003/caption.txt | RoboTwin 2.0 demo_clean/open_laptop/aloha_agilex/video/episode_0000003.mp4 | Pull up the lid of the matte laptop with smooth screenOpen the rectangular laptop with Toshiba logo lifting with the left armGently raise the matte laptop with smooth screen using the left arm. | 2,228 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a Toshiba matte laptop. The setting is a room with a marble table surface, which reflects ambient lighting and provides a sleek, cool backdrop for the activity. The robot... |
move_can_pot | 3 | cosmos/move_can_pot/ep003.mp4 | sim/move_can_pot/ep003.mp4 | depth/move_can_pot/ep003.mp4 | preview/move_can_pot/ep003.mp4 | text/move_can_pot/ep003/prompt.txt | text/move_can_pot/ep003/caption.txt | RoboTwin 2.0 demo_clean/move_can_pot/aloha_agilex/video/episode_0000003.mp4 | Move the red sauce can for holding condiments to the round blue-lid kitchenpot for stovetop with the left armGrab the cylindrical sauce can, shift it, and place it close to the metal pot with dark handlesUse the left arm to grab the red sauce can, move it beside the blue-lid kitchenpot | 2,278 | 2,025 | The video is a demonstration of robotic manipulation, likely in a laboratory or industrial setting. It features a single robotic arm interacting with a red cylindrical object that appears to be a can. The setting is a room with a wooden table, which provides a warm, textured backdrop for the activity. The robotic arm, ... |
RoboTwin 2.0 x Cosmos3 Transfer: arXiv 2605.02757 augmentation recipe (30-clip sample)
This is a 30-clip preview of an augmentation run that reproduces the video augmentation recipe of Seeing Realism from Simulation: Efficient Video Transfer for VLA Data Augmentation (arXiv 2605.02757; official code github.com/nanfangxiansheng/Seeing-Realism-from-Simulation). The video model is the one thing we changed: the recipe uses Cosmos-Transfer2.5, and here every clip is generated with NVIDIA Cosmos3 (Cosmos3-Nano). The full run covers 8 RoboTwin 2.0 tasks x 50 demo_clean episodes and is still in progress.
preview/ holds side-by-side videos (RoboTwin sim render | depth control | Cosmos3 output), which are the quickest
way to look at the data.
Pipeline (per episode, following the official code)
- Source: the RoboTwin 2.0 head-camera video
demo_clean/<task>/aloha_agilex/video/episode_N.mp4(320x240, 30 fps), embodiment aloha-agilex. - Caption:
OpenGVLab/VideoChat-Flash-Qwen2-7B_res448, prompt "Describe the video in detail:", greedy decoding (text/.../caption.txt). - Rewrite:
Qwen/Qwen3-8Bwith thinking mode, using the paper's template character for character (text/.../rewrite_input.txt). The template only changes the table surface material (wood, stainless steel or marble) and keeps the object names from the first three RoboTwin "seen" instructions. The result istext/.../prompt.txt, a plain-text prompt.- The official code sets no sampling seed. We use
2025 + 50*task_index + episode(columnrewrite_seed).
- The official code sets no sampling seed. We use
- Depth control: the steps the Transfer2.5 code runs internally:
- resize the video to 960x720;
- Video-Depth-Anything-Small;
- per-video min-max normalization to [0, 255];
- resize to 960x704 (
depth/).
- Transfer: Cosmos3-Nano video-to-video with depth control, 960x704 (the 720-class 4:3 size), 30 fps, 35 steps,
guidance 3.0, 93 frames per chunk, 1 conditional frame, seed 2025 for every clip, and Transfer2.5's default
negative prompt.
- Control strength uses each model's own default: Transfer2.5
control_weight1.0 in the recipe, Cosmos3 depthcontrol_guidance1.5 here. - No velocity caching; the paper's single-task results also do not use it.
- Control strength uses each model's own default: Transfer2.5
Layout
metadata.csv / metadata.jsonl one row per clip
cosmos/<task>/epNNN.mp4 Cosmos3 output (960x704, 30 fps, same frame count as the source)
sim/<task>/epNNN.mp4 RoboTwin source head-camera video (320x240, 30 fps)
depth/<task>/epNNN.mp4 depth control video (960x704)
preview/<task>/epNNN.mp4 sim | depth | Cosmos3, side by side
text/<task>/epNNN/ caption.txt, rewrite_input.txt, prompt.txt
Observations so far (qualitative)
- The geometry and the robot and object motion follow the depth control. The table becomes the prompted material, and marble is chosen most often: in the 400 rewritten prompts, marble is mentioned 275 times, wood 104 and stainless steel 55.
- Depth carries no color information, so object colors and the robot's markings can drift. For example, the green bottle in adjust_bottle comes out olive, and the "AGILE X" band is sometimes lost.
License and citation
- The RoboTwin 2.0 data is under the MIT license.
- Cosmos3 is released under OpenMDW-1.1, which places no restrictions on generated outputs.
- Please cite RoboTwin 2.0 (arXiv 2506.18088), arXiv 2605.02757 and Cosmos 3.
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