# RoboTwin 2.0 (/docs/evaluation/benchmark-hub/robotwin)



## About [#about]

RoboTwin 2.0 is a bimanual manipulation benchmark with diverse tasks and sim-to-real oriented evaluation.

## Metrics [#metrics]

RoboTwin 2.0 external benchmark task manifest for bimanual embodied manipulation policy rollouts.

### Task YAML [#task-yaml]

`worldfoundry/data/benchmarks/tasks/external/robotwin.yaml`

### Primary [#primary]

* `success_rate`

| Metric                         | Focus                                                                                         |
| ------------------------------ | --------------------------------------------------------------------------------------------- |
| `success_rate`                 | Share of episodes or tasks that complete successfully.                                        |
| `task_success`                 | Share of episodes or tasks that complete successfully.                                        |
| `episode_success`              | Share of episodes or tasks that complete successfully.                                        |
| `bimanual_task_success`        | Share of episodes or tasks that complete successfully.                                        |
| `domain_randomization_success` | Share of episodes or tasks that complete successfully.                                        |
| `clean_success`                | Share of episodes or tasks that complete successfully.                                        |
| `randomized_success`           | Share of episodes or tasks that complete successfully.                                        |
| `reward`                       | Cumulative reward on RoboTwin dual-arm manipulation episodes in the official benchmark suite. |

## Environment setup [#environment-setup]

### Runtime environment [#runtime-environment]

* **Conda env:** `docker:robotwin`.
* **Separate setup:** defaults to the unified WorldFoundry env (`needs_new_env: false`); a benchmark-only conda env is usually not required.
* Embodied simulator dependencies are isolated in the VLA evaluation harness Docker image; WorldFoundry does not ship a RoboTwin conda setup script.
* Host-side WorldFoundry only needs Docker access, the policy/model server, and mounted assets/results.

### Evaluation data [#evaluation-data]

* Candidate model outputs: set `WORLDFOUNDRY_ROBOTWIN_RESULTS_PATH` to the generated-video or rollout artifact root.
* `${WORLDFOUNDRY_HFD_DATASET_ROOT}/TianxingChen__RoboTwin2.0`
* `${WORLDFOUNDRY_HFD_DATASET_ROOT}/lerobot__robotwin_unified`

### Checkpoints & assets [#checkpoints--assets]

* Base-model / metric dependencies: `robotwin_dataset_assets`.
* Default metric-checkpoint paths and override env vars are listed in the [local assets guide](/docs/guides/local-assets).

### Key environment variables [#key-environment-variables]

* `WORLDFOUNDRY_ROBOTWIN_RESULTS_PATH`

## Run Evaluation [#run-evaluation]

After preparing the assets and candidate artifacts listed on this page, use the public run entry points below.

### Set Candidate Artifacts [#set-candidate-artifacts]

```bash
export WORLDFOUNDRY_GENERATED_ARTIFACT_DIR=/path/to/generated/artifacts
```

### Import Official Results [#import-official-results]

```bash
worldfoundry-eval zoo benchmark-run \
  --benchmark-id robotwin \
  --mode normalizer \
  --official-results-path /path/to/official/results-or-report \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/robotwin/normalizer \
  --json
```

### Score Generated Artifacts [#score-generated-artifacts]

```bash
worldfoundry-eval zoo benchmark-run \
  --benchmark-id robotwin \
  --mode official-run \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/robotwin/official-run \
  --json
```

### Direct In-Tree Runner [#direct-in-tree-runner]

```bash
worldfoundry-eval embodied run --config worldfoundry/data/benchmarks/eval_configs/embodied/robotwin/eval.yaml
```

## Requirements [#requirements]

### Inputs [#inputs]

* Official benchmark runtime or preflight validation

### Environment [#environment]

* `WORLDFOUNDRY_ROBOTWIN_RESULTS_PATH`

### Outputs [#outputs]

* `scorecard.json`
* `benchmark_contract.json`
* `task_manifest.json`
* `official_command_manifest.json`
* `simulator_validation.json`
* `raw_metric_table.jsonl`
* `evaluation/per_sample_metrics.jsonl`

[← Benchmark Hub](/docs/evaluation/benchmark-hub)