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