x-square-robot/X2Real-Dataset

X2Real Dataset

Fine-tuning datasets used in the experiments of the X2Real technical report, X2Real: An eXtensive Simulation Benchmark for Real-World Generalist Policies.

The repository contains four self-contained datasets in the validated LeRobot v2.0 format. Choose the embodiment and control space required by your experiment.

Dataset variants

Path	Setting	Control space	State/action dimension	Episodes	Frames	Rate
data/x2real-desktop-ee-lerobot-v2	Desktop simulation	End effector	20D	10,491	4,066,988	20 fps
data/x2real-desktop-joint-lerobot-v2	Desktop simulation	Joint	14D	10,491	4,066,988	20 fps
data/x2real-mobile-ee-lerobot-v2	Mobile manipulation	End effector + mobile body	26D	3,069	4,260,099	20 fps
data/x2real-mobile-joint-lerobot-v2	Mobile manipulation	Joint + mobile body	20D	3,069	4,260,099	20 fps

Each variant includes three camera streams: front view, left wrist, and right wrist. Field definitions, coordinate conventions, task information, and known limitations are documented in the README inside each dataset directory.

Repository layout

X2Real-Dataset/
├── README.md
├── scripts/
│   └── download_x2real_dataset.py
└── data/
    ├── x2real-desktop-ee-lerobot-v2/
    ├── x2real-desktop-joint-lerobot-v2/
    ├── x2real-mobile-ee-lerobot-v2/
    └── x2real-mobile-joint-lerobot-v2/

Every directory under data/ is an independent LeRobot v2.0 dataset root containing its own README.md, checksums.sha256, meta/, data/, and videos/.

Download

Install the Hugging Face client:

pip install -U huggingface_hub

Download one variant:

python scripts/download_x2real_dataset.py desktop-ee --output ./X2Real-Dataset

Use desktop-joint, mobile-ee, mobile-joint, or all in place of desktop-ee. The selected dataset is written under OUTPUT/data/ without changing its LeRobot layout.

To verify a downloaded variant:

cd data/x2real-desktop-ee-lerobot-v2
sha256sum -c --quiet checksums.sha256

The repository root is a container for four schemas, not a single LeRobot dataset root. Point LeRobot tooling at one directory under data/.

Project links

• Paper: X2Real: An eXtensive Simulation Benchmark for Real-World Generalist Policies
• Code: Policy Space
• Simulation client: Coming soon
• License: Apache License 2.0