RoboTwin 2.0 Runtime for RLinf / RPent

RoboTwin 2.0 is a robot-manipulation simulation benchmark covering a wide range of single-arm and dual-arm tasks.

rlinf-robotwin-runtime is the RLinf-maintained RoboTwin environment distribution used by RPent.

This package focuses on the simulation/runtime environment required by RPent. It is not intended to replace RoboTwin's full upstream development or training setup.

Installation

Standalone runtime

pip install rlinf-robotwin-runtime==0.1.1

The PyPI wheel contains the RoboTwin runtime code and the small task/config files required at runtime, but does not bundle the large simulation assets.

Download the required assets after installation:

robotwin-download-assets

RPent

For RPent users, install RoboTwin through RPent's robotwin extra rather than assembling the environment and VLA dependencies manually:

uv pip install -e ".[robotwin]"

The RPent RoboTwin stack consists of:

RPent
├── rlinf-robotwin-runtime
├── rlinf-lingbotvla
└── NVIDIA cuRobo

Package Contents

The wheel contains the runtime-facing RoboTwin Python package, including:

• RoboTwin environment and robot runtime code
• task configuration YAML files
• task instruction / object description metadata
• the robotwin-download-assets CLI

Repository-level development utilities such as tests and helper scripts are not part of the runtime wheel.

Large simulator assets are also distributed separately.

Runtime Contract

The 0.1.x runtime is validated with:

The package intentionally uses a relatively strict dependency contract because these versions have been validated together for the RPent RoboTwin runtime.

cuRobo

cuRobo is intentionally not declared as a dependency of this PyPI package.

RoboTwin treats cuRobo as an optional planner dependency. RPent owns the source dependency for the complete integration and currently pins the official NVIDIA release:

NVlabs/curobo@v0.7.8

This keeps the public RoboTwin wheel free of direct Git dependencies while keeping the full RPent installation reproducible.

RLinf Compatibility

The RLinf-maintained source branch contains the environment/runtime integration used by RPent:

• Source: https://github.com/RLinf/RoboTwin
• Upstream RoboTwin: https://github.com/RoboTwin-Platform/RoboTwin
• RPent: https://github.com/RLinf/RPent

For the current list of tasks with RLinf-compatible reward support, see the README in the RLinf RoboTwin repository.

License

RoboTwin runtime code is distributed under the MIT License.

Please refer to the upstream RoboTwin project for additional dataset, asset, and third-party licensing information.