| 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_storage_object |
| 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: white_table_cloths |
| level1: laboratory_supplies |
| level2: white_table_cloths |
| level3: null |
| level4: null |
| level5: null |
| - object_name: table |
| level1: home_storage |
| level2: table |
| level3: null |
| level4: null |
| level5: null |
| - object_name: apple |
| level1: food |
| level2: apple |
| level3: null |
| level4: null |
| level5: null |
| - object_name: yellow_lemon |
| level1: food |
| level2: yellow_lemon |
| level3: null |
| level4: null |
| level5: null |
| - object_name: pomegranate |
| level1: food |
| level2: pomegranate |
| level3: null |
| level4: null |
| level5: null |
| - object_name: bread_dough |
| level1: food |
| level2: bread_dough |
| level3: null |
| level4: null |
| level5: null |
| - object_name: waffle |
| level1: food |
| level2: waffle |
| level3: null |
| level4: null |
| level5: null |
| - object_name: green_lemon |
| level1: food |
| level2: green_lemon |
| level3: null |
| level4: null |
| level5: null |
| - object_name: eggplant |
| level1: food |
| level2: eggplant |
| level3: null |
| level4: null |
| level5: null |
| - object_name: chewing_gum |
| level1: food |
| level2: chewing_gum |
| level3: null |
| level4: null |
| level5: null |
| - object_name: chocolate |
| level1: food |
| level2: chocolate |
| level3: null |
| level4: null |
| level5: null |
| - object_name: mango |
| level1: food |
| level2: mango |
| level3: null |
| level4: null |
| level5: null |
| - object_name: chewing_gum |
| level1: food |
| level2: chewing_gum |
| level3: null |
| level4: null |
| level5: null |
| - object_name: mint_candy |
| level1: food |
| level2: mint_candy |
| level3: null |
| level4: null |
| level5: null |
| - object_name: mangosteen |
| level1: food |
| level2: mangosteen |
| level3: null |
| level4: null |
| level5: null |
| - object_name: orange |
| level1: food |
| level2: orange |
| level3: null |
| level4: null |
| level5: null |
| - object_name: bread |
| level1: food |
| level2: bread |
| level3: null |
| level4: null |
| level5: null |
| - object_name: banana |
| level1: food |
| level2: banana |
| level3: null |
| level4: Fruit cake |
| level5: null |
| - object_name: cake |
| level1: food |
| level2: cake |
| level3: null |
| level4: null |
| level5: null |
| - object_name: beef_cheeseburger |
| level1: food |
| level2: beef_cheeseburger |
| level3: null |
| level4: null |
| level5: null |
| - object_name: bowl |
| level1: kitchen_supplies |
| level2: bowl |
| level3: null |
| level4: null |
| level5: null |
| - object_name: pan |
| level1: kitchen_supplies |
| level2: pan |
| level3: null |
| level4: null |
| level5: null |
| - object_name: small_teapot |
| level1: kitchen_supplies |
| level2: small_teapot |
| level3: null |
| level4: null |
| level5: null |
| - object_name: small_teacup |
| level1: kitchen_supplies |
| level2: small_teacup |
| level3: null |
| level4: null |
| level5: null |
| - object_name: paper_ball |
| level1: trash |
| level2: paper_ball |
| level3: null |
| level4: null |
| level5: null |
| - object_name: brown_square_towel |
| level1: daily_necessities |
| level2: brown_square_towel |
| level3: null |
| level4: null |
| level5: null |
| - object_name: black_cylindrical_pen_holder |
| level1: stationery |
| level2: black_cylindrical_pen_holder |
| level3: null |
| level4: null |
| level5: null |
| - object_name: pink_long_towel |
| level1: daily_necessities |
| level2: pink_long_towel |
| level3: null |
| level4: null |
| level5: null |
| - object_name: whiteboard_eraser |
| level1: stationery |
| level2: whiteboard_eraser |
| level3: null |
| level4: null |
| level5: null |
| - object_name: mentholatum_facial_cleanser |
| level1: daily_necessities |
| level2: mentholatum_facial_cleanser |
| level3: null |
| level4: null |
| level5: null |
| - object_name: duck |
| level1: toys |
| level2: duck |
| level3: null |
| level4: null |
| level5: null |
| - object_name: compass |
| level1: stationery |
| level2: compass |
| level3: null |
| level4: null |
| level5: null |
| - object_name: bowl |
| level1: kitchen_supplies |
| level2: bowl |
| level3: null |
| level4: null |
| level5: null |
| - object_name: blue_long_towel |
| level1: daily_necessities |
| level2: blue_long_towel |
| level3: null |
| level4: null |
| level5: null |
| - object_name: pearMint candy |
| level1: food |
| level2: pear |
| level3: null |
| level4: null |
| level5: null |
| - object_name: mint_candy |
| level1: food |
| level2: mint_candy |
| level3: null |
| level4: null |
| level5: null |
| - object_name: triangular_bread |
| level1: food |
| level2: triangular_bread Long Bread |
| level3: null |
| level4: null |
| level5: null |
| - object_name: long_bread |
| level1: food |
| level2: long_bread |
| level3: null |
| level4: null |
| level5: null |
| - object_name: chinese_cabbage |
| level1: food |
| level2: chinese_cabbage |
| level3: null |
| level4: null |
| level5: null |
| - object_name: peach |
| level1: food |
| level2: peach |
| level3: null |
| level4: null |
| level5: null |
| - object_name: can |
| level1: food |
| level2: can |
| level3: null |
| level4: null |
| level5: null |
| - object_name: bathing_in_flowers |
| level1: daily_necessities |
| level2: bathing_in_flowers |
| level3: null |
| level4: null |
| level5: null |
| - object_name: wok |
| level1: kitchen_supplies |
| level2: wok |
| level3: null |
| level4: null |
| level5: null |
| - object_name: red_bull_canned_drink |
| level1: beverages |
| level2: wok |
| level3: null |
| level4: null |
| level5: null |
| - object_name: eyeglass_case |
| level1: laboratory_supplies |
| level2: eyeglass_case |
| level3: null |
| level4: null |
| level5: null |
| - object_name: coke (Slim Can) |
| level1: beverages |
| level2: coke (Slim Can) |
| level3: null |
| level4: null |
| level5: null |
| - object_name: wahaha_AD_calcium |
| level1: beverages |
| level2: wahaha_AD_calcium |
| level3: null |
| level4: null |
| level5: null |
| - object_name: brave_the_world_beer |
| level1: beverages |
| level2: brave_the_world_beer |
| level3: null |
| level4: null |
| level5: null |
| - object_name: brave_the_world_beer |
| level1: beverages |
| level2: brave_the_world_beer |
| level3: null |
| level4: null |
| level5: null |
| - object_name: shampoo |
| level1: daily_necessities |
| level2: shampoo |
| level3: null |
| level4: null |
| level5: null |
| - object_name: cleanser |
| level1: daily_necessities |
| level2: cleanser |
| level3: null |
| level4: null |
| level5: null |
| - object_name: sausage |
| level1: food |
| level2: sausage |
| level3: null |
| level4: null |
| level5: null |
| - object_name: french_fries |
| level1: food |
| level2: french_fries |
| level3: null |
| level4: null |
| level5: null |
| - object_name: purple_trash_bag |
| level1: trash |
| level2: purple_trash_bag |
| level3: null |
| level4: null |
| level5: null |
| - object_name: red_date |
| level1: food |
| level2: red_date |
| level3: null |
| level4: null |
| level5: null |
| task_operation_type: Due to some reasons, this dataset temporarily cannot provide |
| the operation type information. |
| task_instruction: |
| - pick up an item with a gripper and place it in a random container on the table. |
| sub_tasks: |
| - subtask: Grasp the pink towel with the right gripper |
| subtask_index: 0 |
| - subtask: Place the XX into the purple pot with the left gripper |
| subtask_index: 1 |
| - subtask: Grasp the yellow lemon with the right gripper |
| subtask_index: 2 |
| - subtask: Grasp the AD milk with the left gripper |
| subtask_index: 3 |
| - subtask: Place the plush banana into the pink bowl with the left gripper |
| subtask_index: 4 |
| - subtask: Place the beer into the purple pot with the right gripper |
| subtask_index: 5 |
| - subtask: Place the green lemon into the pink bowl with the right gripper |
| subtask_index: 6 |
| - subtask: Grasp the red bull with the right gripper |
| subtask_index: 7 |
| - subtask: Grasp the beer with the right gripper |
| subtask_index: 8 |
| - subtask: Place the hollow ring bread into the red pot with the left gripper |
| subtask_index: 9 |
| - subtask: Grasp the banana with the left gripper |
| subtask_index: 10 |
| - subtask: Place the yellow lemon into the pink bowl with the left gripper |
| subtask_index: 11 |
| - subtask: Place the yellow lemon into the blue bowl with the right gripper |
| subtask_index: 12 |
| - subtask: Grasp the pink laundry detergent with the left gripper |
| subtask_index: 13 |
| - subtask: Place the eggplant into the purple pot with the right gripper |
| subtask_index: 14 |
| - subtask: Grasp the apple with the right gripper |
| subtask_index: 15 |
| - subtask: Place the peach into the red pot with the left gripper |
| subtask_index: 16 |
| - subtask: Place the red bull into the blue bowl with the left gripper |
| subtask_index: 17 |
| - subtask: Place the blue garbage bag into the pen container with the right gripper |
| subtask_index: 18 |
| - subtask: Grasp the shampoo with the right gripper |
| subtask_index: 19 |
| - subtask: Place the plush banana into the pink bowl with the right gripper |
| subtask_index: 20 |
| - subtask: Place the banana into the red pot with the left gripper |
| subtask_index: 21 |
| - subtask: Place the apple into the red pot with the left gripper |
| subtask_index: 22 |
| - subtask: Place the round chewing gum into the pen container with the left gripper |
| subtask_index: 23 |
| - subtask: Place the beer into the pink pot with the left gripper |
| subtask_index: 24 |
| - subtask: Place the yellow cake into the pink bowl with the left gripper |
| subtask_index: 25 |
| - subtask: Place the tin into the red pot with the right gripper |
| subtask_index: 26 |
| - subtask: Place the blue garbage bag into the purple pot with the left gripper |
| subtask_index: 27 |
| - subtask: Place the croissant into the purple pot with the right gripper |
| subtask_index: 28 |
| - subtask: Place the shampoo into the blue bowl with the left gripper |
| subtask_index: 29 |
| - subtask: Grasp the yellow lemon with the left gripper |
| subtask_index: 30 |
| - subtask: Place the eyeglass case into the purple pot with the right gripper |
| subtask_index: 31 |
| - subtask: Grasp the white blackboard erasure with the left gripper |
| subtask_index: 32 |
| - subtask: Place the yogurt into the pink bowl with the right gripper |
| subtask_index: 33 |
| - subtask: Place the blue garbage bag into the pink pot with the right gripper |
| subtask_index: 34 |
| - subtask: Place the green lemon into the blue bowl with the left gripper |
| subtask_index: 35 |
| - subtask: Place the apple into the pink pot with the left gripper |
| subtask_index: 36 |
| - subtask: Grasp the eyeglass case with the right gripper |
| subtask_index: 37 |
| - subtask: Place the yellow cake into the blue bowl with the left gripper |
| subtask_index: 38 |
| - subtask: Place the red bull into the pen container with the right gripper |
| subtask_index: 39 |
| - subtask: Place the croissant into the pink bowl with the left gripper |
| subtask_index: 40 |
| - subtask: Grasp the shower sphere with the left gripper |
| subtask_index: 41 |
| - subtask: Grasp the yogurt with the right gripper |
| subtask_index: 42 |
| - subtask: Grasp the croissant with the left gripper |
| subtask_index: 43 |
| - subtask: Grasp the tin with the left gripper |
| subtask_index: 44 |
| - subtask: Grasp the long bread with the right gripper |
| subtask_index: 45 |
| - subtask: Grasp the hard facial cleanser with the left gripper |
| subtask_index: 46 |
| - subtask: Place the mango into the pink bowl with the left gripper |
| subtask_index: 47 |
| - subtask: Grasp the plush banana with the left gripper |
| subtask_index: 48 |
| - subtask: Place the pink laundry detergent into the pen container with the left |
| gripper |
| subtask_index: 49 |
| - subtask: Place the soft facial cleanser into the pink bowl with the right gripper |
| subtask_index: 50 |
| - subtask: Grasp the peach with the right gripper |
| subtask_index: 51 |
| - subtask: Grasp the mango with the left gripper |
| subtask_index: 52 |
| - subtask: Place the round chewing gum into the pink pot with the left gripper |
| subtask_index: 53 |
| - subtask: Place the white blackboard erasure into the pink bowl with the left gripper |
| subtask_index: 54 |
| - subtask: Place the peach into the pink bowl with the left gripper |
| subtask_index: 55 |
| - subtask: Grasp the pear with the left gripper |
| subtask_index: 56 |
| - subtask: Place the tin into the pink pot with the left gripper |
| subtask_index: 57 |
| - subtask: Place the cleaning agent into the pen container with the left gripper |
| subtask_index: 58 |
| - subtask: Place the shampoo into the blue bowl with the right gripper |
| subtask_index: 59 |
| - subtask: Grasp the hollow ring bread with the right gripper |
| subtask_index: 60 |
| - subtask: Place the shower sphere into the pink bowl with the right gripper |
| subtask_index: 61 |
| - subtask: Place the pear into the purple pot with the left gripper |
| subtask_index: 62 |
| - subtask: Place the round chewing gum into the pen container with the right gripper |
| subtask_index: 63 |
| - subtask: Grasp the peach with the left gripper |
| subtask_index: 64 |
| - subtask: Grasp the long bread with the left gripper |
| subtask_index: 65 |
| - subtask: Grasp the eggplant with the right gripper |
| subtask_index: 66 |
| - subtask: Place the blue garbage bag into the pink bowl with the right gripper |
| subtask_index: 67 |
| - subtask: Place the croissant into the red pot with the left gripper |
| subtask_index: 68 |
| - subtask: Grasp the green lemon with the right gripper |
| subtask_index: 69 |
| - subtask: Place the beer into the blue bowl with the left gripper |
| subtask_index: 70 |
| - subtask: Place the shampoo into the purple pot with the right gripper |
| subtask_index: 71 |
| - subtask: Grasp the shampoo with the left gripper |
| subtask_index: 72 |
| - subtask: Place the pink towel into the red pot with the left gripper |
| subtask_index: 73 |
| - subtask: Place the peach into the purple pot with the right gripper |
| subtask_index: 74 |
| - subtask: End |
| subtask_index: 75 |
| - subtask: Place the mint candy into the pink bowl with the right gripper |
| subtask_index: 76 |
| - subtask: Place the eggplant into the pen container with the right gripper |
| subtask_index: 77 |
| - subtask: Grasp the beer with the left gripper |
| subtask_index: 78 |
| - subtask: Place the AD milk into the pen container with the left gripper |
| subtask_index: 79 |
| - subtask: Place the banana into the pink bowl with the left gripper |
| subtask_index: 80 |
| - subtask: 'Grasp the tin with the right gripper |
| |
| ' |
| subtask_index: 81 |
| - subtask: Place the tin into the pink pot with the right gripper |
| subtask_index: 82 |
| - subtask: Place the AD milk into the pink pot with the left gripper |
| subtask_index: 83 |
| - subtask: Place the shower sphere into the purple pot with the right gripper |
| subtask_index: 84 |
| - subtask: Place the long bread into the red pot with the left gripper |
| subtask_index: 85 |
| - subtask: Grasp the yellow cake with the right gripper |
| subtask_index: 86 |
| - subtask: Grasp the croissant with the right gripper |
| subtask_index: 87 |
| - subtask: Grasp the red bull with the left gripper |
| subtask_index: 88 |
| - subtask: Place the peach into the pink bowl with the right gripper |
| subtask_index: 89 |
| - subtask: Place the tin into the pen container with the right gripper |
| subtask_index: 90 |
| - subtask: Place the long bread into the purple pot with the right gripper |
| subtask_index: 91 |
| - subtask: Place the orange into the pink pot with the left gripper |
| subtask_index: 92 |
| - subtask: Place the yellow cake into the blue bowl with the right gripper |
| subtask_index: 93 |
| - subtask: Grasp the pink towel with the left gripper |
| subtask_index: 94 |
| - subtask: Place the croissant into the pink bowl with the right gripper |
| subtask_index: 95 |
| - subtask: Place the hard facial cleanser into the pink bowl with the left gripper |
| subtask_index: 96 |
| - subtask: Place the round chewing gum into the red pot with the right gripper |
| subtask_index: 97 |
| - subtask: Grasp the blue garbage bag with the right gripper |
| subtask_index: 98 |
| - subtask: Grasp the tin with the right gripper |
| subtask_index: 99 |
| - subtask: Grasp the orange with the left gripper |
| subtask_index: 100 |
| - subtask: Grasp the blue garbage bag with the left gripper |
| subtask_index: 101 |
| - subtask: Place the shower sphere into the pink bowl with the left gripper |
| subtask_index: 102 |
| - subtask: Place the yogurt into the red pot with the right gripper |
| subtask_index: 103 |
| - subtask: Place the peach into the pink pot with the right gripper |
| subtask_index: 104 |
| - subtask: Grasp the hollow ring bread with the left gripper |
| subtask_index: 105 |
| - subtask: Grasp the apple with the left gripper |
| subtask_index: 106 |
| - subtask: Place the tin into the red pot with the left gripper |
| subtask_index: 107 |
| - subtask: Place the beer into the red pot with the left gripper |
| subtask_index: 108 |
| - subtask: Place the blue garbage bag into the pink bowl with the left gripper |
| subtask_index: 109 |
| - subtask: Place the mango into the purple pot with the right gripper |
| subtask_index: 110 |
| - subtask: Place the tin into the blue bowl with the left gripper |
| subtask_index: 111 |
| - subtask: Place the apple into the blue bowl with the left gripper |
| subtask_index: 112 |
| - subtask: Grasp the shower sphere with the right gripper |
| subtask_index: 113 |
| - subtask: Place the red bull into the pink bowl with the left gripper |
| subtask_index: 114 |
| - subtask: Grasp the yellow cake with the left gripper |
| subtask_index: 115 |
| - subtask: Grasp the round chewing gum with the right gripper |
| subtask_index: 116 |
| - subtask: Grasp the cleaning agent with the left gripper |
| subtask_index: 117 |
| - subtask: Place the coke into the pink pot with the left gripper |
| subtask_index: 118 |
| - subtask: Place the pink towelinto the pink bowl with the right gripper |
| subtask_index: 119 |
| - subtask: Grasp the round chewing gum with the left gripper |
| subtask_index: 120 |
| - subtask: Place the green lemon into the purple pot with the left gripper |
| subtask_index: 121 |
| - subtask: Place the hollow ring bread into the purple pot with the right gripper |
| subtask_index: 122 |
| - subtask: Place the peach into the purple pot with the left gripper |
| subtask_index: 123 |
| - subtask: Place the yellow cake into the pen container with the right gripper |
| subtask_index: 124 |
| - subtask: Place the apple into the pink pot with the right gripper |
| subtask_index: 125 |
| - subtask: Place the red bull into the pink pot with the right gripper |
| subtask_index: 126 |
| - subtask: Place the tin into the purple pot with the left gripper |
| subtask_index: 127 |
| - subtask: Place the yellow lemon into the pink bowl with the right gripper |
| subtask_index: 128 |
| - subtask: Grasp the mango with the right gripper |
| subtask_index: 129 |
| - subtask: Place the banana into the red pot with the right gripper |
| subtask_index: 130 |
| - subtask: Grasp the mint candy with the right gripper |
| subtask_index: 131 |
| - subtask: Place the apple into the pink bowl with the left gripper |
| subtask_index: 132 |
| - subtask: Grasp the soft facial cleanser with the right gripper |
| subtask_index: 133 |
| - subtask: Grasp the green lemon with the left gripper |
| subtask_index: 134 |
| - subtask: Place the red bull into the red pot with the left gripper |
| subtask_index: 135 |
| - subtask: Grasp the coke with the left gripper |
| subtask_index: 136 |
| - subtask: Place the cleaning agent into the pink bowl with the left gripper |
| subtask_index: 137 |
| - subtask: Grasp the banana with the right gripper |
| subtask_index: 138 |
| - subtask: Grasp the plush banana with the right gripper |
| subtask_index: 139 |
| - subtask: 'null' |
| subtask_index: 140 |
| 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: 99 |
| total_frames: 49237 |
| fps: 30 |
| total_tasks: 141 |
| total_videos: 297 |
| total_chunks: 1 |
| chunks_size: 1000 |
| state_dim: 26 |
| action_dim: 26 |
| camera_views: 3 |
| dataset_size: 855.52 MB |
| frame_num: 49237 |
| dataset_size: 855.52 MB |
| data_structure: 'Agilex_Cobot_Magic_storage_object_qced_hardlink/ |
| |
| |-- 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 |
| |
| |-- backup |
| |
| | |-- data |
| |
| | | `-- chunk-000 |
| |
| | `-- meta |
| |
| | |-- episodes.jsonl |
| |
| | |-- episodes_stats.jsonl |
| |
| | |-- info.json |
| |
| | `-- tasks.jsonl |
| |
| |-- data |
| |
| | `-- chunk-000 |
| |
| | |-- episode_000000.parquet |
| |
| | |-- episode_000001.parquet |
| |
| | |-- episode_000002.parquet |
| |
| | |-- episode_000003.parquet |
| |
| | |-- episode_000004.parquet |
| |
| | |-- episode_000005.parquet |
| |
| | |-- episode_000006.parquet |
| |
| | |-- episode_000007.parquet |
| |
| | |-- episode_000008.parquet |
| |
| | |-- episode_000009.parquet |
| |
| | |-- episode_000010.parquet |
| |
| | `-- episode_000011.parquet |
| |
| | `-- ... (87 more entries) |
| |
| |-- meta |
| |
| | |-- episodes.jsonl |
| |
| | |-- episodes_stats.jsonl |
| |
| | |-- info.json |
| |
| | `-- tasks.jsonl |
| |
| |-- videos |
| |
| | `-- chunk-000 |
| |
| | |-- observation.images.cam_head_rgb |
| |
| | |-- observation.images.cam_left_wrist_rgb |
| |
| | `-- observation.images.cam_right_wrist_rgb |
| |
| |-- info.yaml |
| |
| `-- README.md' |
| splits: |
| train: 0:98 |
| 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 |
| shape: |
| - 5 |
| dtype: int32 |
| scene_annotation: |
| names: null |
| shape: |
| - 1 |
| dtype: int32 |
| 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 |
| shape: |
| - 12 |
| dtype: float32 |
| 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 |
| shape: |
| - 12 |
| dtype: float32 |
| eef_direction_state: |
| names: |
| - left_eef_direction |
| - right_eef_direction |
| shape: |
| - 2 |
| dtype: int32 |
| eef_direction_action: |
| names: |
| - left_eef_direction |
| - right_eef_direction |
| shape: |
| - 2 |
| dtype: int32 |
| eef_velocity_state: |
| names: |
| - left_eef_velocity |
| - right_eef_velocity |
| shape: |
| - 2 |
| dtype: int32 |
| eef_velocity_action: |
| names: |
| - left_eef_velocity |
| - right_eef_velocity |
| shape: |
| - 2 |
| dtype: int32 |
| eef_acc_mag_state: |
| names: |
| - left_eef_acc_mag |
| - right_eef_acc_mag |
| shape: |
| - 2 |
| dtype: int32 |
| eef_acc_mag_action: |
| names: |
| - left_eef_acc_mag |
| - right_eef_acc_mag |
| shape: |
| - 2 |
| dtype: int32 |
| gripper_mode_state: |
| names: |
| - left_gripper_mode |
| - right_gripper_mode |
| shape: |
| - 2 |
| dtype: int32 |
| gripper_mode_action: |
| names: |
| - left_gripper_mode |
| - right_gripper_mode |
| shape: |
| - 2 |
| dtype: int32 |
| gripper_activity_state: |
| names: |
| - left_gripper_activity |
| - right_gripper_activity |
| shape: |
| - 2 |
| dtype: int32 |
| gripper_activity_action: |
| names: |
| - left_gripper_activity |
| - right_gripper_activity |
| shape: |
| - 2 |
| dtype: int32 |
| 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 |
|
|
