RoboTwin Evaluation

RoboTwin 2.0 is a dual-arm robot manipulation benchmark with 50 tasks at two difficulty levels (Easy / Hard with different scene randomization), covering grasping, stacking, tool use, and various other manipulation types.

This document provides instructions for reproducing our experimental results with RoboTwin 2.0.

The evaluation process consists of two main parts:

1. Setting up the robotwin environment and dependencies.
2. Running the evaluation by launching services in both starVLA and robotwin environments.

Why two terminals?

Model inference (starVLA environment) and the simulation (robotwin environment) depend on different Python package versions that would conflict if installed in the same conda environment. Running them in separate terminals with separate conda environments avoids this.

We have verified that this workflow runs successfully on NVIDIA 4090 GPUs.

---

Experimental Results

RoboTwin 2.0 Benchmark Results over 50 Tasks:

Task Name	QwenOFT Easy	QwenOFT Hard	π0 Easy	π0 Hard	π0.5 Easy	π0.5 Hard	X-VLA Easy	X-VLA Hard	Motus Easy	Motus Hard	lingbot-vla w/o depth Easy	lingbot-vla w/o depth Hard	lingbot-vla w/ depth Easy	lingbot-vla w/ depth Hard
Adjust Bottle	100	99	99	95	100	99	100	99	89	93	100	100	100	100
Beat Block Hammer	93	92	79	84	96	93	92	88	95	88	87	91	92	89
Blocks Ranking RGB	99	98	80	63	92	85	83	83	99	97	92	91	92	91
Blocks Ranking Size	79	80	14	5	49	26	67	74	75	63	66	73	76	70
Click Alarmclock	58	51	77	68	98	89	99	99	100	100	93	26	97	43
Click Bell	23	27	71	48	99	66	100	100	100	100	32	19	43	36
Dump Bin Bigbin	91	94	88	83	92	97	79	77	95	91	97	92	97	97
Grab Roller	100	100	98	94	100	100	100	100	100	100	100	99	100	100
Handover Block	97	93	47	31	66	57	73	37	86	73	80	83	83	95
Handover Mic	98	96	97	97	98	97	0	0	78	63	94	98	94	99
Hanging Mug	34	29	14	11	18	17	23	27	38	38	32	27	34	53
Lift Pot	100	100	80	72	96	85	99	100	96	99	100	99	100	100
Move Can Pot	91	90	68	48	51	55	89	86	34	74	79	84	89	87
Move Pillbottle Pad	98	100	67	46	84	61	73	71	93	96	93	94	92	90
Move Playingcard Away	100	98	74	65	96	84	93	98	100	96	96	99	98	100
Move Stapler Pad	74	90	41	24	56	42	78	73	83	85	74	49	74	48
Open Laptop	98	100	71	81	90	96	93	100	95	91	96	96	98	96
Open Microwave	28	39	4	32	34	77	79	71	95	91	91	75	91	92
Pick Diverse Bottles	87	86	69	31	81	71	58	36	90	91	79	86	88	85
Pick Dual Bottles	91	93	59	37	93	63	47	36	96	90	82	95	99	90
Place A2B Left	90	95	43	47	87	82	48	49	82	79	86	83	89	85
Place A2B Right	88	95	39	34	87	84	36	36	90	87	74	77	80	80
Place Bread Basket	91	78	62	46	77	64	81	71	91	94	92	93	95	93
Place Bread Skillet	89	80	66	49	85	66	77	67	86	83	90	89	90	92
Place Burger Fries	100	100	81	76	94	87	94	94	98	98	95	96	98	94
Place Can Basket	75	75	55	46	62	62	49	52	81	76	68	78	75	72
Place Cans Plasticbox	100	99	63	45	94	84	97	98	98	94	97	100	100	98
Place Container Plate	99	99	97	92	99	95	97	95	98	99	99	99	99	100
Place Dual Shoes	91	89	59	51	75	75	79	88	93	87	80	83	87	86
Place Empty Cup	100	100	91	85	100	99	100	98	99	98	100	100	100	100
Place Fan	94	95	66	71	87	85	80	75	91	87	91	79	92	87
Place Mouse Pad	87	94	20	20	60	39	70	70	66	68	82	78	86	79
Place Object Basket	93	94	67	70	80	76	44	39	81	87	90	91	90	88
Place Object Scale	93	93	57	52	86	80	52	74	88	85	84	90	90	88
Place Object Stand	99	98	82	68	91	85	86	88	98	97	97	93	93	88
Place Phone Stand	86	95	49	53	81	81	88	87	87	86	92	93	90	87
Place Shoe	96	100	76	76	92	93	96	95	99	97	99	94	99	99
Press Stapler	99	96	44	37	87	83	92	98	93	98	90	88	86	93
Put Bottles Dustbin	90	85	65	56	84	79	74	77	81	79	88	92	92	93
Put Object Cabinet	89	91	73	60	80	79	46	48	88	71	92	86	85	88
Rotate QRcode	88	90	74	70	89	87	34	33	89	73	93	84	86	82
Scan Object	94	91	55	42	72	65	14	36	67	66	91	97	92	96
Shake Bottle Horizontally	100	100	98	92	99	99	100	100	100	98	100	100	99	98
Shake Bottle	100	100	94	91	99	97	99	100	100	97	99	100	100	99
Stack Blocks Three	94	86	72	52	91	76	6	10	91	95	92	99	96	95
Stack Blocks Two	100	100	93	79	97	100	92	87	100	98	100	100	100	99
Stack Bowls Three	95	91	77	75	77	71	76	86	79	87	72	83	71	77
Stack Bowls Two	99	100	94	95	95	96	96	93	98	98	92	95	90	97
Stamp Seal	86	90	46	33	79	55	76	82	93	92	76	86	74	77
Turn Switch	65	62	41	42	62	54	40	61	84	78	61	65	67	63
Average	88.18	88.32	65.92	58.40	82.74	76.76	72.80	72.84	88.66	87.02	86.50	85.34	88.56	86.68

Note: All 50 tasks are trained within a single model, using 50 clean and 500 randomized demonstrations per task for co-training.

---

RoboTwin Evaluation

1. Environment Setup

To set up the environment, please first follow the official RoboTwin installation guide to install the base robotwin environment.

Then install additional requirements:

pip install -r examples/Robotwin/eval_files/requirements.txt

And edit ROBOTWIN_PATH in examples/Robotwin/eval_files/eval.sh.

---

2. Evaluation Workflow

Step 1. Start the server (starVLA environment)

In the first terminal, activate the starVLA conda environment and run:

bash examples/Robotwin/eval_files/run_policy_server.sh

Edit your checkpoint path in examples/Robotwin/eval_files/deploy_policy.yml and examples/Robotwin/eval_files/run_policy_server.sh.

---

Step 2. Start the simulation (robotwin environment)

In the second terminal, activate the robotwin conda environment and run:

conda activate robotwin
cd examples/Robotwin/eval_files
bash eval.sh task_name demo_clean my_test_v1 0 0

The eval.sh script takes 5 positional arguments:

Position	Meaning	Example
1	Task name (from the list below)	adjust_bottle
2	Data mode (demo_clean or demo_randomized)	demo_clean
3	Experiment name (for logging)	my_test_v1
4	Start episode index	0
5	GPU ID for the simulation	0

All tasks in RoboTwin 2.0 include:

adjust_bottle, beat_block_hammer, blocks_ranking_rgb, blocks_ranking_size,
click_alarmclock, click_bell, dump_bin_bigbin, grab_roller,
handover_block, handover_mic, hanging_mug, lift_pot,
move_can_pot, move_pillbottle_pad, move_playingcard_away, move_stapler_pad,
open_laptop, open_microwave, pick_diverse_bottles, pick_dual_bottles,
place_a2b_left, place_a2b_right, place_bread_basket, place_bread_skillet,
place_burger_fries, place_can_basket, place_cans_plasticbox, place_container_plate,
place_dual_shoes, place_empty_cup, place_fan, place_mouse_pad,
place_object_basket, place_object_scale, place_object_stand, place_phone_stand,
place_shoe, press_stapler, put_bottles_dustbin, put_object_cabinet,
rotate_qrcode, scan_object, shake_bottle_horizontally, shake_bottle,
stack_blocks_three, stack_blocks_two, stack_bowls_three, stack_bowls_two,
stamp_seal, turn_switch

All modes include demo_clean and demo_randomized.