info.yaml

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: Airbot_MMK2_stack_cup
dataset_uuid: 00000000-0000-0000-0000-000000000000
scene_type:
  level1: household
  level2: kitchen
  level3: null
  level4: null
  level5: null
env_type: Due to some reasons, this dataset temporarily cannot provide the environment
  type information.
objects:
- object_name: cup
  level1: kitchen_supplies
  level2: cup
  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 the cup by hand and stack it on top of another cup.
sub_tasks:
- subtask: Place the purple cup on the pink cup with the left gripper
  subtask_index: 0
- subtask: End
  subtask_index: 1
- subtask: Grasp the white cup with the right gripper
  subtask_index: 2
- subtask: Place the white cup on the purple cup with the right gripper
  subtask_index: 3
- subtask: Grasp the purple cup with the left gripper
  subtask_index: 4
- subtask: 'null'
  subtask_index: 5
atomic_actions:
- grasp
- pick
- place
robot_name:
- Airbot_MMK2
end_effector_type: five_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
- cam_front_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
  cam_front_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: end_rotation_dim
end_translation_dim: end_translation_dim
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: 67637
  fps: 30
  total_tasks: 6
  total_videos: 396
  total_chunks: 1
  chunks_size: 1000
  state_dim: 36
  action_dim: 36
  camera_views: 4
  dataset_size: 2.37 GB
frame_num: 67637
dataset_size: 2.37 GB
data_structure: "Airbot_MMK2_stack_cup_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\
  |       `-- ... (87 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_front_rgb\n        |-- observation.images.cam_head_rgb\n\
  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
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.images.cam_front_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:
    - 36
    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
    - 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
    - left_hand_joint_1_rad
    - left_hand_joint_2_rad
    - left_hand_joint_3_rad
    - left_hand_joint_4_rad
    - left_hand_joint_5_rad
    - left_hand_joint_6_rad
    - left_hand_joint_7_rad
    - left_hand_joint_8_rad
    - left_hand_joint_9_rad
    - left_hand_joint_10_rad
    - left_hand_joint_11_rad
    - left_hand_joint_12_rad
    - right_hand_joint_1_rad
    - right_hand_joint_2_rad
    - right_hand_joint_3_rad
    - right_hand_joint_4_rad
    - right_hand_joint_5_rad
    - right_hand_joint_6_rad
    - right_hand_joint_7_rad
    - right_hand_joint_8_rad
    - right_hand_joint_9_rad
    - right_hand_joint_10_rad
    - right_hand_joint_11_rad
    - right_hand_joint_12_rad
  action:
    dtype: float32
    shape:
    - 36
    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
    - 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
    - left_hand_joint_1_rad
    - left_hand_joint_2_rad
    - left_hand_joint_3_rad
    - left_hand_joint_4_rad
    - left_hand_joint_5_rad
    - left_hand_joint_6_rad
    - left_hand_joint_7_rad
    - left_hand_joint_8_rad
    - left_hand_joint_9_rad
    - left_hand_joint_10_rad
    - left_hand_joint_11_rad
    - left_hand_joint_12_rad
    - right_hand_joint_1_rad
    - right_hand_joint_2_rad
    - right_hand_joint_3_rad
    - right_hand_joint_4_rad
    - right_hand_joint_5_rad
    - right_hand_joint_6_rad
    - right_hand_joint_7_rad
    - right_hand_joint_8_rad
    - right_hand_joint_9_rad
    - right_hand_joint_10_rad
    - right_hand_joint_11_rad
    - right_hand_joint_12_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
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_front_rgb/episode_000000.mp4