| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - RoboCOIN |
| - LeRobot |
| license: apache-2.0 |
| configs: |
| - config_name: default |
| data_files: data/chunk-{id}/episode_{id}.parquet |
| extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper |
| in your research/publications—see the "Citation" section for details. You agree |
| to not use the dataset to conduct experiments that cause harm to human subjects. |
| extra_gated_fields: |
| Company/Organization: |
| type: text |
| description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" |
| Country: |
| type: country |
| description: e.g., "Germany", "China", "United States" |
| codebase_version: v2.1 |
| dataset_name: Agilex_Cobot_Magic_stack_block |
| dataset_uuid: 00000000-0000-0000-0000-000000000000 |
| scene_type: |
| level1: household |
| level2: living_room |
| level3: null |
| level4: null |
| level5: null |
| env_type: Due to some reasons, this dataset temporarily cannot provide the environment |
| type information. |
| objects: |
| - object_name: table |
| level1: home_storage |
| level2: table |
| level3: null |
| level4: null |
| level5: null |
| - object_name: square_building_blocks |
| level1: toys |
| level2: square_building_blocks |
| level3: null |
| level4: null |
| level5: null |
| task_operation_type: Due to some reasons, this dataset temporarily cannot provide |
| the operation type information. |
| task_instruction: |
| - According to the building block template in front, assemble the scattered blocks |
| together. |
| sub_tasks: |
| - subtask: 'Put the yellow build block on the blue build block |
| |
| ' |
| subtask_index: 0 |
| - subtask: 'Put the orange build block on the left of the blue build block |
| |
| ' |
| subtask_index: 1 |
| - subtask: 'Put the red build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 2 |
| - subtask: 'Put the orange build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 3 |
| - subtask: Put the green cube on the left of the blue cube with the left gripper |
| subtask_index: 4 |
| - subtask: 'Put the yellow build block on the blue build block |
| |
| ' |
| subtask_index: 5 |
| - subtask: 'Put the green build block on the right of the blue build block |
| |
| ' |
| subtask_index: 6 |
| - subtask: 'Put the red build block on the blue build block |
| |
| ' |
| subtask_index: 7 |
| - subtask: 'Put the yellow build block on the right of the red build block |
| |
| ' |
| subtask_index: 8 |
| - subtask: 'Put the red build block on the behind of the green'' build block |
| |
| ' |
| subtask_index: 9 |
| - subtask: 'Put the blue build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 10 |
| - subtask: Put the orange cube on the behind of the red cube |
| subtask_index: 11 |
| - subtask: Put the blue cube on the behind of the red cube |
| subtask_index: 12 |
| - subtask: Put the blue cube on the right of the green cube |
| subtask_index: 13 |
| - subtask: Put the green cube on the left of the yellow cube with the right gripper |
| subtask_index: 14 |
| - subtask: Grasp the green block with left gripper |
| subtask_index: 15 |
| - subtask: Put the blue cube and green cube in the center of the table with the right |
| gripper |
| subtask_index: 16 |
| - subtask: Put the green cube on the behind of the yellow cube |
| subtask_index: 17 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 18 |
| - subtask: Put the blue cube on the behind of the yellow cube |
| subtask_index: 19 |
| - subtask: 'Put the green build block on the orange build block |
| |
| ' |
| subtask_index: 20 |
| - subtask: Grasp the blue block with left gripper |
| subtask_index: 21 |
| - subtask: Put the green cube on the right of the red cube |
| subtask_index: 22 |
| - subtask: Grasp the orange block with left gripper |
| subtask_index: 23 |
| - subtask: 'Put the bluebuild block on the right of the yellow build block |
| |
| ' |
| subtask_index: 24 |
| - subtask: 'Put the yellow build block on the right of the green build block |
| |
| ' |
| subtask_index: 25 |
| - subtask: Put the yellow cube on the right of the red cube |
| subtask_index: 26 |
| - subtask: 'Put the orange build block on the right of the green build block |
| |
| ' |
| subtask_index: 27 |
| - subtask: Adjust the position of the cube with the right gripper |
| subtask_index: 28 |
| - subtask: Put the red cube and green cube in the center of the table with the left |
| gripper |
| subtask_index: 29 |
| - subtask: 'Put the yellow build block on the right of the red build block |
| |
| ' |
| subtask_index: 30 |
| - subtask: Put the blue cube and green cube in the center of the table with the left |
| gripper |
| subtask_index: 31 |
| - subtask: 'Put the red build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 32 |
| - subtask: Put the green cube on the red cube |
| subtask_index: 33 |
| - subtask: 'Put the orange build block on the behind of the red build block |
| |
| ' |
| subtask_index: 34 |
| - subtask: 'Put the blue build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 35 |
| - subtask: 'Put the yellow build block on the right of the orange build block |
| |
| ' |
| subtask_index: 36 |
| - subtask: Put the red cube on the left of the green cube with the left gripper |
| subtask_index: 37 |
| - subtask: 'Put the yellow build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 38 |
| - subtask: 'Put the green build block in the center of the table |
| |
| ' |
| subtask_index: 39 |
| - subtask: Put the orange cube on the left of the yellow cube with the right gripper |
| subtask_index: 40 |
| - subtask: Put the yellow cube on the behind of the green cube |
| subtask_index: 41 |
| - subtask: 'Put the blue build block on the green build block |
| |
| ' |
| subtask_index: 42 |
| - subtask: 'Put the blue build block on the right of orange the build block |
| |
| ' |
| subtask_index: 43 |
| - subtask: 'Put the yellow build block in the center of the table |
| |
| ' |
| subtask_index: 44 |
| - subtask: Grasp the yellow block with left gripper |
| subtask_index: 45 |
| - subtask: 'Put the orange build block on the behind of the red build block |
| |
| ' |
| subtask_index: 46 |
| - subtask: Put the red cube on the left of the orange cube |
| subtask_index: 47 |
| - subtask: Put the green cube on the right of the yellow cube with the left gripper |
| subtask_index: 48 |
| - subtask: 'Put the blue build block on the front of the orange build block |
| |
| ' |
| subtask_index: 49 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 50 |
| - subtask: 'Put the ornage build block on the behind of the green build block |
| |
| ' |
| subtask_index: 51 |
| - subtask: 'Put the red build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 52 |
| - subtask: Put the yellow cube and orange cube in the center of the table with the |
| right gripper |
| subtask_index: 53 |
| - subtask: Put the blue cube in the center of the table |
| subtask_index: 54 |
| - subtask: 'Put the ornage build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 55 |
| - subtask: Grasp the red block with right gripper |
| subtask_index: 56 |
| - subtask: Put the orange cube on the right of the yellow cube |
| subtask_index: 57 |
| - subtask: 'Put the red build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 58 |
| - subtask: 'Put the yellow build block on the right of the green build block |
| |
| ' |
| subtask_index: 59 |
| - subtask: Put the yellow cube on the front of the orange cube with the right gripper |
| subtask_index: 60 |
| - subtask: Put the green build block on the behind of the blue build block |
| subtask_index: 61 |
| - subtask: Put the yellow build block in the center of the table |
| subtask_index: 62 |
| - subtask: Put the yellow build block on the behind of the blue build block |
| subtask_index: 63 |
| - subtask: 'Put the red build block on the left of the green build block |
| |
| ' |
| subtask_index: 64 |
| - subtask: Put the orange cube on the right of the blue cube |
| subtask_index: 65 |
| - subtask: Put the yellow cube on the behind of the red cube |
| subtask_index: 66 |
| - subtask: Grasp the orange block with right gripper |
| subtask_index: 67 |
| - subtask: Put the red cube on the right of the green cube |
| subtask_index: 68 |
| - subtask: move the build block to the center of the table |
| subtask_index: 69 |
| - subtask: 'Put the yellow build block on the right of the red build block |
| |
| ' |
| subtask_index: 70 |
| - subtask: 'Put the greem build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 71 |
| - subtask: 'Put the yellow build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 72 |
| - subtask: Put the green cube on the right of the orange cube with the right gripper |
| subtask_index: 73 |
| - subtask: Put the red cube on the right of the green cube with the left gripper |
| subtask_index: 74 |
| - subtask: 'Put the yellow build block on the behind of the green build block |
| |
| ' |
| subtask_index: 75 |
| - subtask: Put the green build block on the left of the orange build block |
| subtask_index: 76 |
| - subtask: Put the yellow cube on the front of the blue cube with the right gripper |
| subtask_index: 77 |
| - subtask: 'Put the red build block on the right of the blue build block |
| |
| ' |
| subtask_index: 78 |
| - subtask: 'Put the yellow build block on the blue build block |
| |
| ' |
| subtask_index: 79 |
| - subtask: Put the orange cube on the behind of the blue cube |
| subtask_index: 80 |
| - subtask: 'Put the yellow build block on the right of the blue build block |
| |
| ' |
| subtask_index: 81 |
| - subtask: Put the green cube on the right of the blue cube with the left gripper |
| subtask_index: 82 |
| - subtask: Put the yellow cube on the right of the orange cube |
| subtask_index: 83 |
| - subtask: Put the yellow cube and green cube in the center of the table with the |
| left gripper |
| subtask_index: 84 |
| - subtask: 'Put the blue build block on the left of the yellow build block |
| |
| ' |
| subtask_index: 85 |
| - subtask: Put the red cube and blue cube in the center of the table with the right |
| gripper |
| subtask_index: 86 |
| - subtask: 'Put the blue build block on the right of the red build block |
| |
| ' |
| subtask_index: 87 |
| - subtask: Put the red cube on the right of the orange cube with the right gripper |
| subtask_index: 88 |
| - subtask: 'Put the green build block on the right of the red build block |
| |
| ' |
| subtask_index: 89 |
| - subtask: Put the blue cube on the left of the green cube with the right gripper |
| subtask_index: 90 |
| - subtask: Put the blue cube on the right of the yellow cube with the right gripper |
| subtask_index: 91 |
| - subtask: 'Put the orange build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 92 |
| - subtask: Put the blue cube on the left of the orange cube |
| subtask_index: 93 |
| - subtask: Put the orange cube on the right of the green cube |
| subtask_index: 94 |
| - subtask: 'Put the red build block in the center of the table |
| |
| ' |
| subtask_index: 95 |
| - subtask: 'Put the green build block on the left of the blue build block |
| |
| ' |
| subtask_index: 96 |
| - subtask: Put the green cube on the left of the orange cube with the left gripper |
| subtask_index: 97 |
| - subtask: Grasp the blue block with right gripper |
| subtask_index: 98 |
| - subtask: 'Put the orange build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 99 |
| - subtask: 'Put the yellow build block in the center of the table |
| |
| ' |
| subtask_index: 100 |
| - subtask: 'Put the blue build block on the front of the green build block |
| |
| ' |
| subtask_index: 101 |
| - subtask: Put the red cube in the center of the table |
| subtask_index: 102 |
| - subtask: 'Put the blue build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 103 |
| - subtask: Put the orange cube on the right of the yellow cube with the right gripper |
| subtask_index: 104 |
| - subtask: Put the red cube on the behind of the orange cube |
| subtask_index: 105 |
| - subtask: Put the blue cube and orange cube in the center of the table with the right |
| gripper |
| subtask_index: 106 |
| - subtask: 'Put the green build block on the left of the blue build block |
| |
| ' |
| subtask_index: 107 |
| - subtask: 'Put the right build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 108 |
| - subtask: 'Put the green build block on the right of the red build block |
| |
| ' |
| subtask_index: 109 |
| - subtask: 'Put the yellow build block on the right of the red build block |
| |
| ' |
| subtask_index: 110 |
| - subtask: 'Put the green build block on the left of the blue build block |
| |
| ' |
| subtask_index: 111 |
| - subtask: 'Put the yellow build block on the behind of the red build block |
| |
| ' |
| subtask_index: 112 |
| - subtask: 'Put the blue build block in the center of the table |
| |
| ' |
| subtask_index: 113 |
| - subtask: 'Put the yellow build block on the right of the blue build block |
| |
| ' |
| subtask_index: 114 |
| - subtask: Put the orange cube on the left of the green cube with the left gripper |
| subtask_index: 115 |
| - subtask: Put the yellow cube on the right of the blue cube with the right gripper |
| subtask_index: 116 |
| - subtask: 'Put the green build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 117 |
| - subtask: Put the red cube on the right of the orange cube with the left gripper |
| subtask_index: 118 |
| - subtask: 'Put the green build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 119 |
| - subtask: 'Put the green build block on the right of the red build block |
| |
| ' |
| subtask_index: 120 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 121 |
| - subtask: Put the yellow cube on the right of the green cube |
| subtask_index: 122 |
| - subtask: 'Put the yellow build block on the right of the orange build block |
| |
| ' |
| subtask_index: 123 |
| - subtask: 'Put the orange build block on the green build block |
| |
| ' |
| subtask_index: 124 |
| - subtask: Put the green cube on the front of the blue cube with the left gripper |
| subtask_index: 125 |
| - subtask: 'Put the green build block in the center of the table |
| |
| ' |
| subtask_index: 126 |
| - subtask: Put the green cube in the center of the table |
| subtask_index: 127 |
| - subtask: Put the yellow cube and green cube in the center of the table with the |
| right gripper |
| subtask_index: 128 |
| - subtask: Put the yellow cube and blue cube in the center of the table with the right |
| gripper |
| subtask_index: 129 |
| - subtask: Put the red cube on the behind of the yellow cube |
| subtask_index: 130 |
| - subtask: Put the XX build block on the XX build block |
| subtask_index: 131 |
| - subtask: Put the orange cube on the right of the green cube with the right gripper |
| subtask_index: 132 |
| - subtask: 'Put the orange build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 133 |
| - subtask: 'Put the green build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 134 |
| - subtask: Put the blue cube in the front of the green cube |
| subtask_index: 135 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 136 |
| - subtask: 'Put the blue build block on the right of the red build block |
| |
| ' |
| subtask_index: 137 |
| - subtask: 'Put the red build block on the right of the orange build block |
| |
| ' |
| subtask_index: 138 |
| - subtask: 'Put the blue build block on the behind of the green build block |
| |
| ' |
| subtask_index: 139 |
| - subtask: 'Put the green build block on the right of the blue build block |
| |
| ' |
| subtask_index: 140 |
| - subtask: ' |
| |
| Put the yellow build block in the center of the table' |
| subtask_index: 141 |
| - subtask: 'Put the orange build block on the behind of the red build block |
| |
| ' |
| subtask_index: 142 |
| - subtask: Put the red cube and orange cube in the center of the table with the right |
| gripper |
| subtask_index: 143 |
| - subtask: 'Put the orange build block on the behind of the green build block |
| |
| ' |
| subtask_index: 144 |
| - subtask: 'Put the orange build block in the center of the table |
| |
| ' |
| subtask_index: 145 |
| - subtask: Put the yellow cube in the center of the table |
| subtask_index: 146 |
| - subtask: 'Put the yellow build block on the behind of the green build block |
| |
| ' |
| subtask_index: 147 |
| - subtask: 'Put the blue build block on the right of the green build block |
| |
| ' |
| subtask_index: 148 |
| - subtask: Put the green cube on the right of the orange cube |
| subtask_index: 149 |
| - subtask: Adjust the position of the cube with the left gripper |
| subtask_index: 150 |
| - subtask: Put the green cube on the left of the yellow cube with the left gripper |
| subtask_index: 151 |
| - subtask: 'Put the green build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 152 |
| - subtask: 'Put the orange build block on the right of the red build block |
| |
| ' |
| subtask_index: 153 |
| - subtask: 'Put the red build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 154 |
| - subtask: 'Put the green build block on the red build block |
| |
| ' |
| subtask_index: 155 |
| - subtask: Put the yellow cube on the behind of the blue cube with the left gripper |
| subtask_index: 156 |
| - subtask: 'Put the yellow build block on the behind of the red build block |
| |
| ' |
| subtask_index: 157 |
| - subtask: Put the orange cube on the right of the red cube with the left gripper |
| subtask_index: 158 |
| - subtask: Adjust the pose of the building blocks |
| subtask_index: 159 |
| - subtask: 'Put the blue build block on the front of the green build block |
| |
| ' |
| subtask_index: 160 |
| - subtask: Put the green cube on the right of the red cube with the right gripper |
| subtask_index: 161 |
| - subtask: 'Put theyellow build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 162 |
| - subtask: Put the red cube in the center of the table with the left gripper |
| subtask_index: 163 |
| - subtask: 'Put the red build block on the green build block |
| |
| ' |
| subtask_index: 164 |
| - subtask: 'Put the yellow build block on the orange build block |
| |
| ' |
| subtask_index: 165 |
| - subtask: 'Put the blue build block in the center of the table |
| |
| ' |
| subtask_index: 166 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 167 |
| - subtask: 'Put the red build block on the right of the green build block |
| |
| ' |
| subtask_index: 168 |
| - subtask: Put the red cube on the right of the orange cube |
| subtask_index: 169 |
| - subtask: Put the yellow cube on the left of the blue cube with the left gripper |
| subtask_index: 170 |
| - subtask: 'Put the red build block on the behind of the green build block |
| |
| ' |
| subtask_index: 171 |
| - subtask: Put the yellow cube on the right of the green cube with the left gripper |
| subtask_index: 172 |
| - subtask: 'Put the green build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 173 |
| - subtask: 'Put the blue build block on the orange build block |
| |
| ' |
| subtask_index: 174 |
| - subtask: 'Put the orange build block on the orange build block |
| |
| ' |
| subtask_index: 175 |
| - subtask: 'Put the green build block on the orange build block |
| |
| ' |
| subtask_index: 176 |
| - subtask: 'Put the yellow build block in the center of the table |
| |
| ' |
| subtask_index: 177 |
| - subtask: Put the blue cube in the front of the yellow cube |
| subtask_index: 178 |
| - subtask: 'Put the red build block on the behind of the green build block |
| |
| ' |
| subtask_index: 179 |
| - subtask: 'Put the blue build block on the behind of the green build block |
| |
| ' |
| subtask_index: 180 |
| - subtask: Put the red cube and yellow cube in the center of the table with the right |
| gripper |
| subtask_index: 181 |
| - subtask: 'Put the orange build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 182 |
| - subtask: 'Put the orange build block on the left of the red build block |
| |
| ' |
| subtask_index: 183 |
| - subtask: 'Put the orange build block in the center of the table |
| |
| ' |
| subtask_index: 184 |
| - subtask: 'Put the blue build block in the center of the table |
| |
| ' |
| subtask_index: 185 |
| - subtask: 'Put the yellow build block on the right of the green build block |
| |
| ' |
| subtask_index: 186 |
| - subtask: 'Put the orange build block in the center of the table |
| |
| ' |
| subtask_index: 187 |
| - subtask: Put the red cube and green cube in the center of the table with the right |
| gripper |
| subtask_index: 188 |
| - subtask: 'Put the blue build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 189 |
| - subtask: 'Put the orange build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 190 |
| - subtask: 'Put the orange build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 191 |
| - subtask: Put the blue cube on the left of the yellow cube with the left gripper |
| subtask_index: 192 |
| - subtask: Put the red cube on the right of the green cube with the right gripper |
| subtask_index: 193 |
| - subtask: 'Put the red build block on the behind of the green build block |
| |
| ' |
| subtask_index: 194 |
| - subtask: 'Put the orange build block on the right of the red build block |
| |
| ' |
| subtask_index: 195 |
| - subtask: Put the blue build block on the right of the yellow build block |
| subtask_index: 196 |
| - subtask: 'Put the green build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 197 |
| - subtask: Put the yellow cube and blue cube in the center of the table with the left |
| gripper |
| subtask_index: 198 |
| - subtask: Put the yellow cube on the left of the orange cube with the right gripper |
| subtask_index: 199 |
| - subtask: Put the red cube in the front of the orange cube |
| subtask_index: 200 |
| - subtask: 'Put the yellow build block on the behind of the green build block |
| |
| ' |
| subtask_index: 201 |
| - subtask: 'Put the blue build block in the center of the table |
| |
| ' |
| subtask_index: 202 |
| - subtask: Put the green build block on the behind of the blue build block |
| subtask_index: 203 |
| - subtask: Put the orange cube on the left of the red cube with the right gripper |
| subtask_index: 204 |
| - subtask: Put the green cube and orange cube in the center of the table with the |
| right gripper |
| subtask_index: 205 |
| - subtask: Grasp the yellow block with right gripper |
| subtask_index: 206 |
| - subtask: 'Put the orange build block on the green build block |
| |
| ' |
| subtask_index: 207 |
| - subtask: 'Put the yellow build block on the front of the red build block |
| |
| ' |
| subtask_index: 208 |
| - subtask: Put the orange cube on the right of the blue cube with the right gripper |
| subtask_index: 209 |
| - subtask: 'Put the green build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 210 |
| - subtask: Put the yellow cube on the left of the red cube with the right gripper |
| subtask_index: 211 |
| - subtask: Abnormal |
| subtask_index: 212 |
| - subtask: 'Put the red build block on the yellow build block |
| |
| ' |
| subtask_index: 213 |
| - subtask: Put the blue cube on the behind of the orange cube |
| subtask_index: 214 |
| - subtask: 'Put the red build block on the right of the blue build block |
| |
| ' |
| subtask_index: 215 |
| - subtask: Put the green cube in the center of the table with the left gripper |
| subtask_index: 216 |
| - subtask: 'Put the red build block on the front of the green build block |
| |
| ' |
| subtask_index: 217 |
| - subtask: Put the yellow cube on the behind of the blue cube |
| subtask_index: 218 |
| - subtask: 'Put the blue build block on the left of the yellow build block |
| |
| ' |
| subtask_index: 219 |
| - subtask: Put the orange cube on the left of the blue cube |
| subtask_index: 220 |
| - subtask: 'Put the orange build block on the front of the blue build block |
| |
| ' |
| subtask_index: 221 |
| - subtask: Put the yellow cube in the front of the green cube |
| subtask_index: 222 |
| - subtask: 'Put the blue build block in the center of the table |
| |
| ' |
| subtask_index: 223 |
| - subtask: Put the green cube in the front of the yellow cube |
| subtask_index: 224 |
| - subtask: Put the red cube and orange cube in the center of the table with the left |
| gripper |
| subtask_index: 225 |
| - subtask: Put the yellow build block on the behind of the green build block |
| subtask_index: 226 |
| - subtask: 'Put the orange build block on the blue build block |
| |
| ' |
| subtask_index: 227 |
| - subtask: 'Put the blue build block on the left of the yellow build block |
| |
| ' |
| subtask_index: 228 |
| - subtask: Grasp the red block with left gripper |
| subtask_index: 229 |
| - subtask: 'Put the blue build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 230 |
| - subtask: 'Put the red build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 231 |
| - subtask: 'Put the red build block in the center of the table |
| |
| ' |
| subtask_index: 232 |
| - subtask: 'Put the red build block on the right of the orange build block |
| |
| ' |
| subtask_index: 233 |
| - subtask: 'Put the red build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 234 |
| - subtask: 'Put the green build block on the right of the red build block |
| |
| ' |
| subtask_index: 235 |
| - subtask: 'Put the blue build block on the behind of the green build block |
| |
| ' |
| subtask_index: 236 |
| - subtask: Put the orange cube on the right of the red cube |
| subtask_index: 237 |
| - subtask: 'Put the red build block on the right of the green build block |
| |
| ' |
| subtask_index: 238 |
| - subtask: 'Put the blue build block on the behind of the green build block |
| |
| ' |
| subtask_index: 239 |
| - subtask: 'Put the green build block in the center of the table |
| |
| ' |
| subtask_index: 240 |
| - subtask: Put the yellow cube on the right of the blue cube |
| subtask_index: 241 |
| - subtask: Put the yellow cube on the behind of the orange cube |
| subtask_index: 242 |
| - subtask: Put the yellow cube in the front of the orange cube |
| subtask_index: 243 |
| - subtask: 'Put the green build block on the red build block |
| |
| ' |
| subtask_index: 244 |
| - subtask: Put the green cube on the right of the yellow cube |
| subtask_index: 245 |
| - subtask: 'Put the yellow build block on the right of the green build block |
| |
| ' |
| subtask_index: 246 |
| - subtask: Put the red cube and blue cube in the center of the table with the left |
| gripper |
| subtask_index: 247 |
| - subtask: 'Put the green build block on the left of the orange build block |
| |
| ' |
| subtask_index: 248 |
| - subtask: Put the orange cube on the left of the blue cube with the right gripper |
| subtask_index: 249 |
| - subtask: 'Put the green build block on the blue build block |
| |
| ' |
| subtask_index: 250 |
| - subtask: 'Put the green build block on the orange build block |
| |
| ' |
| subtask_index: 251 |
| - subtask: 'Put the orange build block on the right of the blue build block |
| |
| ' |
| subtask_index: 252 |
| - subtask: 'Put the orange build block on the right of the blue build block |
| |
| ' |
| subtask_index: 253 |
| - subtask: Put the blue cube on the yellow cube |
| subtask_index: 254 |
| - subtask: 'Put the orange build block on the right of the green build block |
| |
| ' |
| subtask_index: 255 |
| - subtask: Put the blue cube on the right of the orange cube with the right gripper |
| subtask_index: 256 |
| - subtask: Put the yellow cube on the right of the orange cube with the right gripper |
| subtask_index: 257 |
| - subtask: Put the red cube on the left of the orange cube with the left gripper |
| subtask_index: 258 |
| - subtask: 'Put the yellow build block on the behind of the green build block |
| |
| ' |
| subtask_index: 259 |
| - subtask: 'Put the orange build block on the left of the red build block |
| |
| ' |
| subtask_index: 260 |
| - subtask: 'Put the red build block on the front of the green build block |
| |
| ' |
| subtask_index: 261 |
| - subtask: Put the blue cube on the right of the red cube with the right gripper |
| subtask_index: 262 |
| - subtask: 'Put the yellow build block on the behind of the red build block |
| |
| ' |
| subtask_index: 263 |
| - subtask: 'Put the red build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 264 |
| - subtask: 'Put the red build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 265 |
| - subtask: Put the yellow cube on the left of the green cube |
| subtask_index: 266 |
| - subtask: 'Put the blue build block on the right of the orange build block |
| |
| ' |
| subtask_index: 267 |
| - subtask: Put the green cube on the right of the blue cube |
| subtask_index: 268 |
| - subtask: 'Put the red build block on the blue build block |
| |
| ' |
| subtask_index: 269 |
| - subtask: 'Put the blue build block on the red build block |
| |
| ' |
| subtask_index: 270 |
| - subtask: Put the orange cube in the front of the blue cube |
| subtask_index: 271 |
| - subtask: 'Put the red build block on the right of the blue build block |
| |
| ' |
| subtask_index: 272 |
| - subtask: Put the blue build block on the right of the yellow build block |
| subtask_index: 273 |
| - subtask: Put the red build block on the right of the blue build block |
| subtask_index: 274 |
| - subtask: Put the green cube in the front of the blue cube |
| subtask_index: 275 |
| - subtask: Put the red cube in the front of the blue cube |
| subtask_index: 276 |
| - subtask: Put the blue cube on the right of the green cube with the left gripper |
| subtask_index: 277 |
| - subtask: 'Put the blue build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 278 |
| - subtask: 'Put the red build block in the center of the table |
| |
| ' |
| subtask_index: 279 |
| - subtask: Put the green cube and orange cube in the center of the table with the |
| left gripper |
| subtask_index: 280 |
| - subtask: 'Put the blue build block on the behind of the red build block |
| |
| ' |
| subtask_index: 281 |
| - subtask: Put the blue cube on the right of the orange cube |
| subtask_index: 282 |
| - subtask: 'Put the blue build block on the right of the green build block |
| |
| ' |
| subtask_index: 283 |
| - subtask: 'Put the red build block on the front of the blue build block |
| |
| ' |
| subtask_index: 284 |
| - subtask: Static |
| subtask_index: 285 |
| - subtask: 'Put the red build block on the front of the yellow build block |
| |
| ' |
| subtask_index: 286 |
| - subtask: 'Put the blue build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 287 |
| - subtask: Put the yellow cube in the front of the blue cube |
| subtask_index: 288 |
| - subtask: 'Put the yellow build block in the center of the table |
| |
| ' |
| subtask_index: 289 |
| - subtask: 'Put the yellow build block on the behind of the red build block |
| |
| ' |
| subtask_index: 290 |
| - subtask: Put the red cube on the right of the yellow cube |
| subtask_index: 291 |
| - subtask: 'Put the green build block on the behind of the red build block |
| |
| ' |
| subtask_index: 292 |
| - subtask: 'Put the yellow build block on the right of the green build block |
| |
| ' |
| subtask_index: 293 |
| - subtask: 'Put the yellow build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 294 |
| - subtask: Put the orange cube on the left of the red cube |
| subtask_index: 295 |
| - subtask: 'Put the yellow build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 296 |
| - subtask: 'Put the yellow build block on the right of the blue build block |
| |
| ' |
| subtask_index: 297 |
| - subtask: 'Put the red build block in the center of the table |
| |
| ' |
| subtask_index: 298 |
| - subtask: 'Put the green build block on the right of the blue build block |
| |
| ' |
| subtask_index: 299 |
| - subtask: 'Put the green build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 300 |
| - subtask: Put the blue cube in the front of the orange cube |
| subtask_index: 301 |
| - subtask: Put the green cube on the right of the blue cube with the right gripper |
| subtask_index: 302 |
| - subtask: 'Put the green build block on the right of the red build block |
| |
| ' |
| subtask_index: 303 |
| - subtask: 'Put the red build block on the behind of the green build block |
| |
| ' |
| subtask_index: 304 |
| - subtask: 'Put the red build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 305 |
| - subtask: 'Put the green build block in the center of the table |
| |
| ' |
| subtask_index: 306 |
| - subtask: 'Put the yellow build block on the right of the blue build block |
| |
| ' |
| subtask_index: 307 |
| - subtask: 'Put the orange build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 308 |
| - subtask: 'Put the green build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 309 |
| - subtask: 'Put the orange build block in the center of the table |
| |
| ' |
| subtask_index: 310 |
| - subtask: Put the red cube on the right of the blue cube |
| subtask_index: 311 |
| - subtask: 'Put the green build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 312 |
| - subtask: Put the blue build block on the right of the orange build block |
| subtask_index: 313 |
| - subtask: Put the orange cube on the behind of the yellow cube with the left gripper |
| subtask_index: 314 |
| - subtask: Put the orange cube in the front of the yellow cube |
| subtask_index: 315 |
| - subtask: 'Put the yellow build block on the right of the orange build block |
| |
| ' |
| subtask_index: 316 |
| - subtask: 'Put the orange build block on the front of the blue build block |
| |
| ' |
| subtask_index: 317 |
| - subtask: Put the yellow cube on the behind of the green cube with the left gripper |
| subtask_index: 318 |
| - subtask: Put the red cube on the left of the blue cube |
| subtask_index: 319 |
| - subtask: Put the blue cube on the behind of the green cube |
| subtask_index: 320 |
| - subtask: Put the blue cube on the right of the green cube with the right gripper |
| subtask_index: 321 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 322 |
| - subtask: 'Put the red build block on the right of the blue build block |
| |
| ' |
| subtask_index: 323 |
| - subtask: Put the red cube on the left of the green cube with the right gripper |
| subtask_index: 324 |
| - subtask: 'Put the blue build block on the right of the orange build block |
| |
| ' |
| subtask_index: 325 |
| - subtask: 'Put the yellow build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 326 |
| - subtask: Put the yellow cube on the left of the orange cube |
| subtask_index: 327 |
| - subtask: Put the orange cube in the center of the table |
| subtask_index: 328 |
| - subtask: Put the blue cube on the right of the red cube |
| subtask_index: 329 |
| - subtask: 'Put the blue build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 330 |
| - subtask: 'Put the orange build block on the right of the green build block |
| |
| ' |
| subtask_index: 331 |
| - subtask: 'Put the green build block in the center of the table |
| |
| ' |
| subtask_index: 332 |
| - subtask: Put the red cube in the front of the green cube |
| subtask_index: 333 |
| - subtask: 'Put the green build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 334 |
| - subtask: Put the yellow cube on the right of the green cube with the right gripper |
| subtask_index: 335 |
| - subtask: 'Put the orange build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 336 |
| - subtask: 'Put the green build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 337 |
| - subtask: ' |
| |
| Put the yellow build block on the behind of the green build block |
| |
| ' |
| subtask_index: 338 |
| - subtask: 'Put the green build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 339 |
| - subtask: 'Put the orange build block on the behind of the blue build block |
| |
| ' |
| subtask_index: 340 |
| - subtask: Put the red cube on the right of the yellow cube with the right gripper |
| subtask_index: 341 |
| - subtask: Put the blue cube on the right of the yellow cube |
| subtask_index: 342 |
| - subtask: Put the green build block in the center of the table |
| subtask_index: 343 |
| - subtask: 'Put the green build block on the right of the red build block |
| |
| ' |
| subtask_index: 344 |
| - subtask: Put the green cube on the right of the yellow cube with the right gripper |
| subtask_index: 345 |
| - subtask: 'Put the red build block on the front of the yellow build block |
| |
| ' |
| subtask_index: 346 |
| - subtask: 'Put the green build block in the center of the table |
| |
| ' |
| subtask_index: 347 |
| - subtask: 'Put the green build block on the blue build block |
| |
| ' |
| subtask_index: 348 |
| - subtask: 'Put the green build block on the blue build block |
| |
| ' |
| subtask_index: 349 |
| - subtask: Put the blue cube in the front of the red cube |
| subtask_index: 350 |
| - subtask: 'Put the orange build block on the left of the red build block |
| |
| ' |
| subtask_index: 351 |
| - subtask: Put the yellow cube on the right of the red cube with the right gripper |
| subtask_index: 352 |
| - subtask: 'Put the yellow build block on the right of the orange build block |
| |
| ' |
| subtask_index: 353 |
| - subtask: Grasp the green block with right gripper |
| subtask_index: 354 |
| - subtask: 'Put the blue build block on the behind of the orange build block |
| |
| ' |
| subtask_index: 355 |
| - subtask: 'Put the orange build block on the right of the blue build block |
| |
| ' |
| subtask_index: 356 |
| - subtask: 'Put the blue build block on the right of the orange build block |
| |
| ' |
| subtask_index: 357 |
| - subtask: Put the red cube on the left of the yellow cube with the right gripper |
| subtask_index: 358 |
| - subtask: 'Put the orange build block on the right of the blue build block |
| |
| ' |
| subtask_index: 359 |
| - subtask: Put the blue cube on the left of the red cube |
| subtask_index: 360 |
| - subtask: 'Put the orange build block on the right of the build block |
| |
| ' |
| subtask_index: 361 |
| - subtask: 'Put the orange build block on the right of the yellow build block |
| |
| ' |
| subtask_index: 362 |
| - subtask: Put the orange cube in the front of the red cube |
| subtask_index: 363 |
| - subtask: Put the red cube in the front of the yellow cube |
| subtask_index: 364 |
| - subtask: Put the yellow cube on the left of the green cube with the left gripper |
| subtask_index: 365 |
| - subtask: Put the red cube on the right of the blue cube with the right gripper |
| subtask_index: 366 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 367 |
| - subtask: Put the red cube on the behind of the blue cube |
| subtask_index: 368 |
| - subtask: 'Put the yellow build block in the center of the table |
| |
| ' |
| subtask_index: 369 |
| - subtask: Put the yellow cube on the orange cube |
| subtask_index: 370 |
| - subtask: 'Put the blue build block in the center of the table |
| |
| ' |
| subtask_index: 371 |
| - subtask: Put the blue cube on the left of the red cube with the left gripper |
| subtask_index: 372 |
| - subtask: 'Put the blue build block on the behind of the yellow build block |
| |
| ' |
| subtask_index: 373 |
| - subtask: 'Put the green build block on the right of the orange build block |
| |
| ' |
| subtask_index: 374 |
| - subtask: Put the yellow cube in the front of the red cube |
| subtask_index: 375 |
| - subtask: 'Put the yellow build block on the behind of the green build block |
| |
| ' |
| subtask_index: 376 |
| - subtask: Put the orange cube on the right of the red cube with the right gripper |
| subtask_index: 377 |
| - subtask: Put the orange cube on the front of the blue cube with the right gripper |
| subtask_index: 378 |
| - subtask: End |
| subtask_index: 379 |
| - subtask: Put the green cube on the behind of the blue cube |
| subtask_index: 380 |
| - subtask: 'Put blue the build block on the right of the red build block |
| |
| ' |
| subtask_index: 381 |
| - subtask: Put the blue cube on the left of the red cube with the right gripper |
| subtask_index: 382 |
| - subtask: 'null' |
| subtask_index: 383 |
| atomic_actions: |
| - grasp |
| - lift |
| - lower |
| robot_name: |
| - Agilex_Cobot_Magic |
| end_effector_type: two_finger_gripper |
| tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation |
| type information. |
| sensor_list: |
| - cam_head_rgb |
| - cam_left_wrist_rgb |
| - cam_right_wrist_rgb |
| came_info: |
| cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p |
| cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, |
| pix_fmt=yuv420p |
| cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, |
| pix_fmt=yuv420p |
| depth_enabled: false |
| coordinate_definition: right-hand-frame |
| joint_rotation_dim: radian |
| end_rotation_dim: radian |
| end_translation_dim: meter |
| annotations: |
| - eef_acc_mag_annotation.jsonl |
| - eef_direction_annotation.jsonl |
| - eef_velocity_annotation.jsonl |
| - gripper_activity_annotation.jsonl |
| - gripper_mode_annotation.jsonl |
| - scene_annotations.jsonl |
| - subtask_annotations.jsonl |
| statistics: |
| total_episodes: 672 |
| total_frames: 643028 |
| fps: 30 |
| total_tasks: 384 |
| total_videos: 2016 |
| total_chunks: 1 |
| chunks_size: 1000 |
| state_dim: 26 |
| action_dim: 26 |
| camera_views: 3 |
| dataset_size: 3.97 GB |
| frame_num: 643028 |
| dataset_size: 3.97 GB |
| data_structure: "Agilex_Cobot_Magic_Agilex_Cobot_Magic_stack_block_qced_hardlink/\n\ |
| |-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ |
| | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ |
| | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ |
| \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ |
| | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ |
| \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n\ |
| | |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| \ |
| \ |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n\ |
| | `-- episode_000011.parquet\n| `-- ... (660 more entries)\n|-- meta\n\ |
| | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ |
| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_head_rgb\n\ |
| \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" |
| splits: |
| train: 0:671 |
| features: |
| observation.images.cam_head_rgb: |
| dtype: video |
| shape: |
| - 480 |
| - 640 |
| - 3 |
| names: |
| - height |
| - width |
| - channels |
| info: |
| video.height: 480 |
| video.width: 640 |
| video.codec: av1 |
| video.pix_fmt: yuv420p |
| video.is_depth_map: false |
| video.fps: 30 |
| video.channels: 3 |
| has_audio: false |
| observation.images.cam_left_wrist_rgb: |
| dtype: video |
| shape: |
| - 480 |
| - 640 |
| - 3 |
| names: |
| - height |
| - width |
| - channels |
| info: |
| video.height: 480 |
| video.width: 640 |
| video.codec: av1 |
| video.pix_fmt: yuv420p |
| video.is_depth_map: false |
| video.fps: 30 |
| video.channels: 3 |
| has_audio: false |
| observation.images.cam_right_wrist_rgb: |
| dtype: video |
| shape: |
| - 480 |
| - 640 |
| - 3 |
| names: |
| - height |
| - width |
| - channels |
| info: |
| video.height: 480 |
| video.width: 640 |
| video.codec: av1 |
| video.pix_fmt: yuv420p |
| video.is_depth_map: false |
| video.fps: 30 |
| video.channels: 3 |
| has_audio: false |
| observation.state: |
| dtype: float32 |
| shape: |
| - 26 |
| names: |
| - left_arm_joint_1_rad |
| - left_arm_joint_2_rad |
| - left_arm_joint_3_rad |
| - left_arm_joint_4_rad |
| - left_arm_joint_5_rad |
| - left_arm_joint_6_rad |
| - left_gripper_open |
| - left_eef_pos_x_m |
| - left_eef_pos_y_m |
| - left_eef_pos_z_m |
| - left_eef_rot_euler_x_rad |
| - left_eef_rot_euler_y_rad |
| - left_eef_rot_euler_z_rad |
| - right_arm_joint_1_rad |
| - right_arm_joint_2_rad |
| - right_arm_joint_3_rad |
| - right_arm_joint_4_rad |
| - right_arm_joint_5_rad |
| - right_arm_joint_6_rad |
| - right_gripper_open |
| - right_eef_pos_x_m |
| - right_eef_pos_y_m |
| - right_eef_pos_z_m |
| - right_eef_rot_euler_x_rad |
| - right_eef_rot_euler_y_rad |
| - right_eef_rot_euler_z_rad |
| action: |
| dtype: float32 |
| shape: |
| - 26 |
| names: |
| - left_arm_joint_1_rad |
| - left_arm_joint_2_rad |
| - left_arm_joint_3_rad |
| - left_arm_joint_4_rad |
| - left_arm_joint_5_rad |
| - left_arm_joint_6_rad |
| - left_gripper_open |
| - left_eef_pos_x_m |
| - left_eef_pos_y_m |
| - left_eef_pos_z_m |
| - left_eef_rot_euler_x_rad |
| - left_eef_rot_euler_y_rad |
| - left_eef_rot_euler_z_rad |
| - right_arm_joint_1_rad |
| - right_arm_joint_2_rad |
| - right_arm_joint_3_rad |
| - right_arm_joint_4_rad |
| - right_arm_joint_5_rad |
| - right_arm_joint_6_rad |
| - right_gripper_open |
| - right_eef_pos_x_m |
| - right_eef_pos_y_m |
| - right_eef_pos_z_m |
| - right_eef_rot_euler_x_rad |
| - right_eef_rot_euler_y_rad |
| - right_eef_rot_euler_z_rad |
| timestamp: |
| dtype: float32 |
| shape: |
| - 1 |
| names: null |
| frame_index: |
| dtype: int64 |
| shape: |
| - 1 |
| names: null |
| episode_index: |
| dtype: int64 |
| shape: |
| - 1 |
| names: null |
| index: |
| dtype: int64 |
| shape: |
| - 1 |
| names: null |
| task_index: |
| dtype: int64 |
| shape: |
| - 1 |
| names: null |
| subtask_annotation: |
| names: null |
| dtype: int32 |
| shape: |
| - 5 |
| scene_annotation: |
| names: null |
| dtype: int32 |
| shape: |
| - 1 |
| eef_sim_pose_state: |
| names: |
| - left_eef_pos_x |
| - left_eef_pos_y |
| - left_eef_pos_z |
| - left_eef_rot_x |
| - left_eef_rot_y |
| - left_eef_rot_z |
| - right_eef_pos_x |
| - right_eef_pos_y |
| - right_eef_pos_z |
| - right_eef_rot_x |
| - right_eef_rot_y |
| - right_eef_rot_z |
| dtype: float32 |
| shape: |
| - 12 |
| eef_sim_pose_action: |
| names: |
| - left_eef_pos_x |
| - left_eef_pos_y |
| - left_eef_pos_z |
| - left_eef_rot_x |
| - left_eef_rot_y |
| - left_eef_rot_z |
| - right_eef_pos_x |
| - right_eef_pos_y |
| - right_eef_pos_z |
| - right_eef_rot_x |
| - right_eef_rot_y |
| - right_eef_rot_z |
| dtype: float32 |
| shape: |
| - 12 |
| eef_direction_state: |
| names: |
| - left_eef_direction |
| - right_eef_direction |
| dtype: int32 |
| shape: |
| - 2 |
| eef_direction_action: |
| names: |
| - left_eef_direction |
| - right_eef_direction |
| dtype: int32 |
| shape: |
| - 2 |
| eef_velocity_state: |
| names: |
| - left_eef_velocity |
| - right_eef_velocity |
| dtype: int32 |
| shape: |
| - 2 |
| eef_velocity_action: |
| names: |
| - left_eef_velocity |
| - right_eef_velocity |
| dtype: int32 |
| shape: |
| - 2 |
| eef_acc_mag_state: |
| names: |
| - left_eef_acc_mag |
| - right_eef_acc_mag |
| dtype: int32 |
| shape: |
| - 2 |
| eef_acc_mag_action: |
| names: |
| - left_eef_acc_mag |
| - right_eef_acc_mag |
| dtype: int32 |
| shape: |
| - 2 |
| gripper_mode_state: |
| names: |
| - left_gripper_mode |
| - right_gripper_mode |
| dtype: int32 |
| shape: |
| - 2 |
| gripper_mode_action: |
| names: |
| - left_gripper_mode |
| - right_gripper_mode |
| dtype: int32 |
| shape: |
| - 2 |
| gripper_activity_state: |
| names: |
| - left_gripper_activity |
| - right_gripper_activity |
| dtype: int32 |
| shape: |
| - 2 |
| gripper_activity_action: |
| names: |
| - left_gripper_activity |
| - right_gripper_activity |
| dtype: int32 |
| shape: |
| - 2 |
| gripper_open_scale_state: |
| names: |
| - left_gripper_open_scale |
| - right_gripper_open_scale |
| dtype: float32 |
| shape: |
| - 2 |
| gripper_open_scale_action: |
| names: |
| - left_gripper_open_scale |
| - right_gripper_open_scale |
| dtype: float32 |
| shape: |
| - 2 |
| authors: |
| contributed_by: |
| - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) |
| dataset_description: This dataset uses an extended format based on LeRobot and is |
| fully compatible with LeRobot. |
| homepage: https://flagopen.github.io/RoboCOIN/ |
| paper: https://arxiv.org/abs/2511.17441 |
| repository: https://github.com/FlagOpen/RoboCOIN |
| contact_info: For questions, issues, or feedback regarding this dataset, please contact |
| us. |
| support_info: For technical support, please open an issue on our GitHub repository. |
| license_details: apache-2.0 |
| citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ |
| \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ |
| \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ |
| \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ |
| \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ |
| \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ |
| \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ |
| \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ |
| \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ |
| \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ |
| \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ |
| \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ |
| \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ |
| \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ |
| \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ |
| \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" |
| additional_citations: 'If you use this dataset, please also consider citing: |
| |
| LeRobot Framework: https://github.com/huggingface/lerobot |
| |
| ' |
| version_info: Initial Release |
| data_path: data/chunk-{id}/episode_{id}.parquet |
| video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} |
| video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 |
|
|
