diff --git a/dataset_info/AI2_Alphabot_2_grind_ink.yaml b/dataset_info/AI2_Alphabot_2_grind_ink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eecfb85b77dc30e65b9a1ebcf7a0b1a71d6ba61b --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_grind_ink.yaml @@ -0,0 +1,495 @@ +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: AI2_Alphabot_2_grind_ink +dataset_uuid: 19b80467-6838-4bdb-ab9e-c8e3ad1bdde5 +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: brush and ink slab + color: transparent +- object_name: ink stick + color: black +task_operation_type: fixed_single_arm +task_instruction: &id001 +- Grasp the brush, grind it on the ink slab, then return it to its original position. +sub_tasks: *id001 +atomic_actions: +- grasp +- press +- rotate +- place +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_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: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 251 + total_frames: 215722 + fps: 30 + total_tasks: 1 + total_videos: 1004 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 13.40 GB +frame_num: 215722 +frame_range: 1M +dataset_size: 13.40 GB +data_structure: 'AI2_Alphabot_2_grind_ink_0_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (239 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:250 +features: + observation.images.cam_front_chest_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_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: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_insert_hose_into_hole.yaml b/dataset_info/AI2_Alphabot_2_insert_hose_into_hole.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f13b18c3324ed224959831ff0d8040b6450d08d8 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_insert_hose_into_hole.yaml @@ -0,0 +1,493 @@ +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: AI2_Alphabot_2_insert_hose_into_hole +dataset_uuid: 85ef15fc-ab9f-411e-83ab-475ea9b8caf0 +scene_type: + level1: Industry + level2: Factory + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: water pipe + color: gray +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- Use both hands to pick up one end of the pipe from the table, align the ends, and + insert them. +sub_tasks: *id001 +atomic_actions: +- grasp +- insert +- align +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_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: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 976 + total_frames: 667972 + fps: 30 + total_tasks: 1 + total_videos: 3904 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 11.14 GB +frame_num: 667972 +frame_range: 1M +dataset_size: 11.14 GB +data_structure: 'AI2_Alphabot_2_insert_hose_into_hole_0_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (964 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:975 +features: + observation.images.cam_front_chest_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_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: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_organize_toys_5.yaml b/dataset_info/AI2_Alphabot_2_organize_toys_5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..316580e9f51b8daebde87e05c1906183aa5b11a7 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_organize_toys_5.yaml @@ -0,0 +1,513 @@ +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: AI2_Alphabot_2_organize_toys_5 +dataset_uuid: fb712460-4fe1-45d5-a3d2-c9c100a3aedc +scene_type: + level1: Industry + level2: Inspection Area + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: duck_doll + name: duck doll + color: blue + anchor_policy: static +- id: lion_doll + name: lion_doll + color: brown + anchor_policy: static +- id: pig_doll + name: pig_doll + color: pink + anchor_policy: static +- id: open_top_box + name: open top box + color: blue + anchor_policy: static +- id: table + name: table + color: white + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Use the right hand to place the duck plush toy into the storage + box, then use the left hand to place the dog plush toy into the storage box. +sub_tasks: +- Use the right hand to place the duck plush toy into the storage box, then use the + left hand to place the dog plush toy into the storage box. +atomic_actions: +- grasp +- release +robot_name: +- AI2_Alphabot_2 +end_effector_type: +- two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_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: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 852 + total_frames: 471302 + fps: 30 + total_tasks: 1 + total_videos: 3408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 9.45 GB +frame_num: 471302 +frame_range: 1M +dataset_size: 9.45 GB +data_structure: 'AI2_Alphabot_2_store_toys_5_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (840 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:851 +features: + observation.images.cam_front_chest_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_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: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_package_fruit.yaml b/dataset_info/AI2_Alphabot_2_package_fruit.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f351d31594dfa2d0106d855b6cd44c3444ea5880 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_package_fruit.yaml @@ -0,0 +1,495 @@ +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: AI2_Alphabot_2_package_fruit +dataset_uuid: 073995d9-0f0f-4238-8815-c136b98c5296 +scene_type: + level1: Retail + level2: Supermarket + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: basket + color: brown +- object_name: strawberry + color: red +- object_name: mango + color: yellow +task_operation_type: fixed_single_arm +task_instruction: &id001 +- Pick the strawberry and mango from the table and place them into the basket. +sub_tasks: *id001 +atomic_actions: +- grasp +- place +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 988 + total_frames: 384538 + fps: 30 + total_tasks: 1 + total_videos: 3952 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 7.08 GB +frame_num: 384538 +frame_range: 1M +dataset_size: 7.08 GB +data_structure: 'AI2_Alphabot_2_package_fruit_2_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (976 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:987 +features: + observation.images.cam_front_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: h264 + 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: h264 + 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: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_pour_mung_beans.yaml b/dataset_info/AI2_Alphabot_2_pour_mung_beans.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31056d493f054091dc077e73099e88a5720adf41 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_pour_mung_beans.yaml @@ -0,0 +1,496 @@ +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: AI2_Alphabot_2_pour_mung_beans +dataset_uuid: fd896996-0951-424c-a39e-83ae6e4244f8 +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: mung bean + color: green +- object_name: plastic bowl + color: pink +- object_name: plastic cup + color: purple +task_operation_type: fixed_single_arm +task_instruction: &id001 +- Pick up the cup and pour the mung beans from the cup into the bowl. +sub_tasks: *id001 +atomic_actions: +- grasp +- pour +- place +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_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: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 213 + total_frames: 181968 + fps: 30 + total_tasks: 1 + total_videos: 852 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 7.47 GB +frame_num: 181968 +frame_range: 1M +dataset_size: 7.47 GB +data_structure: 'AI2_Alphabot_2_pour_mung_beans_0_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (201 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:212 +features: + observation.images.cam_front_chest_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_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: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml b/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml index 9157dbb7f89c53fd261f56c8117737ed624f5f19..147a2b4e2f91eb9d532ef2c19a896116c4f112eb 100644 --- a/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml +++ b/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml @@ -21,10 +21,10 @@ extra_gated_fields: description: e.g., "Germany", "China", "United States" codebase_version: v2.1 dataset_name: AI2_Alphabot_2_shake_test_tube -dataset_uuid: c80ab8f4-ed65-4d77-ac8e-0bbcdb6cb049 +dataset_uuid: 629fccc8-6581-4ca7-9ab7-b7240f573f16 scene_type: - level1: Lab - level2: Laboratory + level1: Retail + level2: Supermarket level3: null level4: null level5: null @@ -34,20 +34,17 @@ objects: color: transparent - object_name: test tube color: transparent -- object_name: glass board - color: transparent task_operation_type: fixed_single_arm task_instruction: &id001 -- Grasp the test tube with one hand, tap it against the glass, then shake the test - tube. +- Pick up the test tube from the test tube rack, shake it, then place it back into + the test tube rack. +sub_tasks: *id001 atomic_actions: - grasp -- move -- shake -robot_name: -- AI2_Alphabot_2 -end_effector_type: -- two_finger_end_effector +- rotate +- insert +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector tele_type: vr_controller sensor_list: - cam_front_chest_rgb @@ -69,41 +66,98 @@ joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter annotations: +- camera_params.json - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl - gripper_activity_annotation.jsonl - gripper_mode_annotation.jsonl statistics: - total_episodes: 50 - total_frames: 29299 + total_episodes: 399 + total_frames: 313739 fps: 30 total_tasks: 1 - total_videos: 200 + total_videos: 1596 total_chunks: 1 chunks_size: 1000 state_dim: 34 action_dim: 34 camera_views: 4 - dataset_size: 869.04 MB -frame_num: 29299 -frame_range: 100K -dataset_size: 869.04 MB -data_structure: "AI2_Alphabot_2_shake_test_tube_0_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|-- 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| `-- ...\ - \ (38 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_chest_rgb\n |-- observation.images.cam_front_head_rgb\n\ - \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + dataset_size: 24.50 GB +frame_num: 313739 +frame_range: 1M +dataset_size: 24.50 GB +data_structure: 'AI2_Alphabot_2_shake_test_tube_1_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (387 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' splits: - train: 0:49 + train: 0:398 features: observation.images.cam_front_chest_rgb: dtype: video @@ -438,5 +492,4 @@ additional_citations: 'If you use this dataset, please also consider citing: version_info: Initial Release data_path: data/chunk-{id}/episode_{id}.parquet video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id} -sub_tasks: *id001 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_sort_utensils.yaml b/dataset_info/AI2_Alphabot_2_sort_utensils.yaml new file mode 100644 index 0000000000000000000000000000000000000000..271d76f3249484e4823e49cd688adf647842d49c --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_sort_utensils.yaml @@ -0,0 +1,500 @@ +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: AI2_Alphabot_2_sort_utensils +dataset_uuid: b16efdba-50a9-43da-95e6-c164a8f3e116 +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: food tongs + color: silver +- object_name: egg beater + color: silver +- object_name: kitchen storage box + color: black +- object_name: plastic bowl + color: purple +- object_name: spoon + color: blue +task_operation_type: fixed_single_arm +task_instruction: &id001 +- Place the food tongs and whisk into the bowl，Place the spoon into the utensil storage + box. +sub_tasks: *id001 +atomic_actions: +- grasp +- place +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 195 + total_frames: 79817 + fps: 30 + total_tasks: 1 + total_videos: 780 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 3.33 GB +frame_num: 79817 +frame_range: 100K +dataset_size: 3.33 GB +data_structure: 'AI2_Alphabot_2_sort_utensils_0_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (183 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:194 +features: + observation.images.cam_front_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: h264 + 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: h264 + 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: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_store_toys.yaml b/dataset_info/AI2_Alphabot_2_store_toys.yaml index 90c0c8a64890f596edae9afe942ed4b29c6d0495..7601f6be20535ed5a78632af7fa82f62e7e6a086 100644 --- a/dataset_info/AI2_Alphabot_2_store_toys.yaml +++ b/dataset_info/AI2_Alphabot_2_store_toys.yaml @@ -21,7 +21,7 @@ extra_gated_fields: description: e.g., "Germany", "China", "United States" codebase_version: v2.1 dataset_name: AI2_Alphabot_2_store_toys -dataset_uuid: d68b37cf-e7af-4d7a-8e6a-4e61d06dd33e +dataset_uuid: 0ab3a510-b0dd-48fe-8672-a603fa569055 scene_type: level1: Household level2: Living Room @@ -30,20 +30,18 @@ scene_type: level5: null env_type: real_world objects: -- object_name: doll - color: yellow -- object_name: doll +- object_name: open top box + color: blue +- object_name: figure + color: blue +- object_name: figure color: black -- object_name: doll - color: yellow -task_operation_type: fixed_dual_arm +task_operation_type: fixed_single_arm task_instruction: &id001 -- Pick up the toy alternately with the left and right hands and place it into the - central storage box. +- Pick up the two dolls from the table and place them into the box. +sub_tasks: *id001 atomic_actions: -- move -- pick -- release +- grasp - place robot_name: AI2_Alphabot_2 end_effector_type: two_finger_end_effector @@ -54,13 +52,13 @@ sensor_list: - cam_left_wrist_rgb - cam_right_wrist_rgb came_info: - cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p - cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p - cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p - cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame @@ -68,30 +66,33 @@ joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter annotations: +- camera_params.json - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl - gripper_activity_annotation.jsonl - gripper_mode_annotation.jsonl statistics: - total_episodes: 113 - total_frames: 71384 + total_episodes: 499 + total_frames: 152601 fps: 30 total_tasks: 1 - total_videos: 452 + total_videos: 1996 total_chunks: 1 chunks_size: 1000 state_dim: 34 action_dim: 34 camera_views: 4 - dataset_size: 1.47 GB -frame_num: 71384 -frame_range: 100K -dataset_size: 1.47 GB -data_structure: 'AI2_Alphabot_2_store_toys_1_qced_hardlink/ + dataset_size: 1.87 GB +frame_num: 152601 +frame_range: 1M +dataset_size: 1.87 GB +data_structure: 'AI2_Alphabot_2_store_toys_2_qced_hardlink/ |-- annotations + | |-- camera_params.json + | |-- eef_acc_mag_annotation.jsonl | |-- eef_direction_annotation.jsonl @@ -130,23 +131,7 @@ data_structure: 'AI2_Alphabot_2_store_toys_1_qced_hardlink/ | `-- episode_000011.parquet - | `-- ... (101 more entries) - - |-- logs - - | `-- collect - - | |-- collect_20260601115839.log - - | |-- collect_20260601120328.log - - | |-- collect_20260601120549.log - - | |-- collect_20260601130102.log - - | |-- collect_20260601130243.log - - | `-- collect_20260601131051.log + | `-- ... (487 more entries) |-- meta @@ -170,11 +155,9 @@ data_structure: 'AI2_Alphabot_2_store_toys_1_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - |-- info.yaml - - `-- README.md' + `-- info.yaml' splits: - train: 0:112 + train: 0:498 features: observation.images.cam_front_chest_rgb: dtype: video @@ -189,7 +172,7 @@ features: info: video.height: 480 video.width: 640 - video.codec: av1 + video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false video.fps: 30 @@ -208,7 +191,7 @@ features: info: video.height: 480 video.width: 640 - video.codec: av1 + video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false video.fps: 30 @@ -227,7 +210,7 @@ features: info: video.height: 480 video.width: 640 - video.codec: av1 + video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false video.fps: 30 @@ -246,7 +229,7 @@ features: info: video.height: 480 video.width: 640 - video.codec: av1 + video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false video.fps: 30 @@ -509,5 +492,4 @@ additional_citations: 'If you use this dataset, please also consider citing: version_info: Initial Release data_path: data/chunk-{id}/episode_{id}.parquet video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id} -sub_tasks: *id001 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_tidy_countertop.yaml b/dataset_info/AI2_Alphabot_2_tidy_countertop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..705cf8828d9c632ddc947fce9fbcb8d4d7a3fe35 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_tidy_countertop.yaml @@ -0,0 +1,496 @@ +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: AI2_Alphabot_2_tidy_countertop +dataset_uuid: 53dad1d5-08ca-463b-951e-275f92050f85 +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: soy sauce + color: other +- object_name: spoon + color: brown +- object_name: shelf + color: gray +task_operation_type: fixed_single_arm +task_instruction: &id001 +- Place the soy sauce bottle on the right side of the shelf, then place the spoon + in the middle of the shelf. +sub_tasks: *id001 +atomic_actions: +- grasp +- release +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_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: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 406 + total_frames: 343739 + fps: 30 + total_tasks: 1 + total_videos: 1624 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 16.90 GB +frame_num: 343739 +frame_range: 1M +dataset_size: 16.90 GB +data_structure: 'AI2_Alphabot_2_tidy_countertop_0_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (394 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:405 +features: + observation.images.cam_front_chest_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_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: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_write_text.yaml b/dataset_info/AI2_Alphabot_2_write_text.yaml new file mode 100644 index 0000000000000000000000000000000000000000..714717d36c9f5f99c832d0baf5211026a659d576 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_write_text.yaml @@ -0,0 +1,497 @@ +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: AI2_Alphabot_2_write_text +dataset_uuid: 0afb6994-524a-433a-bec2-9eb7553276a0 +scene_type: + level1: Household + level2: Study Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: writing brush + color: black +- object_name: brush and ink slab + color: orange +- object_name: A4 paper + color: white +task_operation_type: fixed_single_arm +task_instruction: &id001 +- Pick up the brush from the inkstone, write on the paper, then place the brush back + to its original position. +sub_tasks: *id001 +atomic_actions: +- grasp +- pull +- place +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_chest_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_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: +- camera_params.json +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 404 + total_frames: 328988 + fps: 30 + total_tasks: 1 + total_videos: 1616 + total_chunks: 1 + chunks_size: 1000 + state_dim: 34 + action_dim: 34 + camera_views: 4 + dataset_size: 22.25 GB +frame_num: 328988 +frame_range: 1M +dataset_size: 22.25 GB +data_structure: 'AI2_Alphabot_2_write_text_0_qced_hardlink/ + + |-- annotations + + | |-- camera_params.json + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (392 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:403 +features: + observation.images.cam_front_chest_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_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: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + action: + dtype: float32 + shape: + - 34 + 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_arm_joint_7_rad + - 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_arm_joint_7_rad + - 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 + - left_gripper_open + - right_gripper_open + - neck_joint_1_rad + - neck_joint_2_rad + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_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 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + 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 +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_front_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml index 17ccd5c760958a30d42e88463a7b20def4473129..73a24ee5ab3899a47f73501e421d0d49641f2f0e 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml @@ -21,72 +21,49 @@ extra_gated_fields: description: e.g., "Germany", "China", "United States" codebase_version: v2.1 dataset_name: Leju_Kuavo_4_box_storage_parcel -dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b +dataset_uuid: c5b36393-0124-4a59-90ea-a52992b08cfa scene_type: - level1: household - level2: null + level1: Logistics + level2: Sorting Center level3: null level4: null level5: null -env_type: Due to some reasons, this dataset temporarily cannot provide the environment - type information. +env_type: real_world objects: - object_name: table + color: null - object_name: parcel + color: null - object_name: conveyor_belt + color: null - object_name: box -task_operation_type: Due to some reasons, this dataset temporarily cannot provide - the operation type information. -task_instruction: -- Move the parcel from the conveyor to the table with the left gripper to box it. -sub_tasks: -- subtask: Grasp the package on the scanner with left gripper. - subtask_index: 0 -- subtask: Abnormal. - subtask_index: 1 -- subtask: place the parcel inside the courier box. - subtask_index: 2 -- subtask: Place the parcel onto the inbound machine. - subtask_index: 3 -- subtask: Place the parcel into the delivery box. - subtask_index: 4 -- subtask: Grasp the package on the conveyor belt with right gripper. - subtask_index: 5 -- subtask: Place the package in the green box with left gripper. - subtask_index: 6 -- subtask: End. - subtask_index: 7 -- subtask: Pick up the parcel from the conveyor belt. - subtask_index: 8 -- subtask: pick up the parcel off the conveyor belt. - subtask_index: 9 -- subtask: Place the package on the scanner with right gripper. - subtask_index: 10 -- subtask: Pick up the parcel from the inbound machine. - subtask_index: 11 -- subtask: null. - subtask_index: 12 + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 atomic_actions: - grasp - pick - place robot_name: Leju_Kuavo_4 end_effector_type: two_finger_end_effector -tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation - type information. +tele_type: vr_controller sensor_list: -- camera_head_rgb -- camera_left_wrist_rgb -- camera_right_wrist_rgb +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb came_info: - camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p - camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, pix_fmt=yuv420p - camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, 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 @@ -94,24 +71,22 @@ annotations: - eef_velocity_annotation.jsonl - gripper_activity_annotation.jsonl - gripper_mode_annotation.jsonl -- scene_annotations.jsonl -- subtask_annotations.jsonl statistics: - total_episodes: 443 - total_frames: 537851 + total_episodes: 311 + total_frames: 417783 fps: 30 - total_tasks: 13 - total_videos: 1329 + total_tasks: 1 + total_videos: 933 total_chunks: 1 chunks_size: 1000 - state_dim: 118 - action_dim: 54 + state_dim: 52 + action_dim: 40 camera_views: 3 - dataset_size: 27.23 GB -frame_num: 537851 + dataset_size: 9.37 GB +frame_num: 417783 frame_range: 1M -dataset_size: 27.23 GB -data_structure: 'leju_robot_box_storage_parcel_qced_hardlink/ +dataset_size: 9.37 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_0_qced_hardlink/ |-- annotations @@ -123,11 +98,7 @@ data_structure: 'leju_robot_box_storage_parcel_qced_hardlink/ | |-- gripper_activity_annotation.jsonl - | |-- gripper_mode_annotation.jsonl - - | |-- scene_annotations.jsonl - - | `-- subtask_annotations.jsonl + | `-- gripper_mode_annotation.jsonl |-- data @@ -157,7 +128,7 @@ data_structure: 'leju_robot_box_storage_parcel_qced_hardlink/ | `-- episode_000011.parquet - | `-- ... (431 more entries) + | `-- ... (299 more entries) |-- meta @@ -173,19 +144,17 @@ data_structure: 'leju_robot_box_storage_parcel_qced_hardlink/ | `-- chunk-000 - | |-- observation.images.camera_head_rgb + | |-- observation.images.cam_front_head_rgb - | |-- observation.images.camera_left_wrist_rgb + | |-- observation.images.cam_left_wrist_rgb - | `-- observation.images.camera_right_wrist_rgb + | `-- observation.images.cam_right_wrist_rgb - |-- info.yaml - - `-- README.md' + `-- info.yaml' splits: - train: 0:442 + train: 0:310 features: - observation.images.camera_head_rgb: + observation.images.cam_front_head_rgb: dtype: video shape: - 480 @@ -198,13 +167,13 @@ features: info: video.height: 480 video.width: 848 - video.codec: av1 + video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false video.fps: 30 video.channels: 3 has_audio: false - observation.images.camera_left_wrist_rgb: + observation.images.cam_left_wrist_rgb: dtype: video shape: - 480 @@ -217,13 +186,13 @@ features: info: video.height: 480 video.width: 848 - video.codec: av1 + video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false video.fps: 30 video.channels: 3 has_audio: false - observation.images.camera_right_wrist_rgb: + observation.images.cam_right_wrist_rgb: dtype: video shape: - 480 @@ -236,7 +205,7 @@ features: info: video.height: 480 video.width: 848 - video.codec: av1 + video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false video.fps: 30 @@ -245,7 +214,7 @@ features: observation.state: dtype: float32 shape: - - 118 + - 52 names: - left_arm_joint_1_rad - left_arm_joint_2_rad @@ -287,62 +256,6 @@ features: - right_hand_joint_6_rad - head_joint_1_rad - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s - - left_arm_joint_1_eff_nm - - left_arm_joint_2_eff_nm - - left_arm_joint_3_eff_nm - - left_arm_joint_4_eff_nm - - left_arm_joint_5_eff_nm - - left_arm_joint_6_eff_nm - - left_arm_joint_7_eff_nm - - right_arm_joint_1_eff_nm - - right_arm_joint_2_eff_nm - - right_arm_joint_3_eff_nm - - right_arm_joint_4_eff_nm - - right_arm_joint_5_eff_nm - - right_arm_joint_6_eff_nm - - right_arm_joint_7_eff_nm - - left_leg_joint_1_vel_rad_s - - left_leg_joint_2_vel_rad_s - - left_leg_joint_3_vel_rad_s - - left_leg_joint_4_vel_rad_s - - left_leg_joint_5_vel_rad_s - - left_leg_joint_6_vel_rad_s - - right_leg_joint_1_vel_rad_s - - right_leg_joint_2_vel_rad_s - - right_leg_joint_3_vel_rad_s - - right_leg_joint_4_vel_rad_s - - right_leg_joint_5_vel_rad_s - - right_leg_joint_6_vel_rad_s - - left_leg_joint_1_eff_nm - - left_leg_joint_2_eff_nm - - left_leg_joint_3_eff_nm - - left_leg_joint_4_eff_nm - - left_leg_joint_5_eff_nm - - left_leg_joint_6_eff_nm - - right_leg_joint_1_eff_nm - - right_leg_joint_2_eff_nm - - right_leg_joint_3_eff_nm - - right_leg_joint_4_eff_nm - - right_leg_joint_5_eff_nm - - right_leg_joint_6_eff_nm - - head_joint_1_vel_rad_s - - head_joint_2_vel_rad_s - - head_joint_1_eff_nm - - head_joint_2_eff_nm - left_eef_pos_x_m - left_eef_pos_y_m - left_eef_pos_z_m @@ -355,20 +268,10 @@ features: - right_eef_rot_euler_x_rad - right_eef_rot_euler_y_rad - right_eef_rot_euler_z_rad - - imu_accel_x_m_s2 - - imu_accel_y_m_s2 - - imu_accel_z_m_s2 - - imu_gyro_x_rad_s - - imu_gyro_y_rad_s - - imu_gyro_z_rad_s - - imu_quat_x - - imu_quat_y - - imu_quat_z - - imu_quat_w action: dtype: float32 shape: - - 54 + - 40 names: - left_arm_joint_1_rad - left_arm_joint_2_rad @@ -410,20 +313,6 @@ features: - right_hand_joint_6_rad - head_joint_1_rad - head_joint_2_rad - - left_arm_joint_1_vel_rad_s - - left_arm_joint_2_vel_rad_s - - left_arm_joint_3_vel_rad_s - - left_arm_joint_4_vel_rad_s - - left_arm_joint_5_vel_rad_s - - left_arm_joint_6_vel_rad_s - - left_arm_joint_7_vel_rad_s - - right_arm_joint_1_vel_rad_s - - right_arm_joint_2_vel_rad_s - - right_arm_joint_3_vel_rad_s - - right_arm_joint_4_vel_rad_s - - right_arm_joint_5_vel_rad_s - - right_arm_joint_6_vel_rad_s - - right_arm_joint_7_vel_rad_s timestamp: dtype: float32 shape: @@ -449,14 +338,14 @@ features: shape: - 1 names: null - subtask_annotation: - names: null - dtype: int32 + gripper_open_scale_state: + names: [] + dtype: float32 shape: - - 5 - scene_annotation: - names: null - dtype: int32 + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 shape: - 1 eef_sim_pose_state: @@ -464,15 +353,15 @@ features: - left_eef_pos_x - left_eef_pos_y - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_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_ori_x - - right_eef_ori_y - - right_eef_ori_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z dtype: float32 shape: - 12 @@ -481,15 +370,15 @@ features: - left_eef_pos_x - left_eef_pos_y - left_eef_pos_z - - left_eef_ori_x - - left_eef_ori_y - - left_eef_ori_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_ori_x - - right_eef_ori_y - - right_eef_ori_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z dtype: float32 shape: - 12 @@ -570,5 +459,5 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} -video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 +video_path: videos/chunk-{id}/observation.images.cam_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_1.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e340c336fbb478eee32512a40204063bdd1e2e00 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_1.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_1 +dataset_uuid: 513ebd8c-e2c2-4a7a-9266-f202fe1aa06c +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 193 + total_frames: 278603 + fps: 30 + total_tasks: 1 + total_videos: 579 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 7.89 GB +frame_num: 278603 +frame_range: 1M +dataset_size: 7.89 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (181 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:192 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_10.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_10.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b4536805963d5ba3587ca4aa5537f95c2a3756ad --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_10.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_10 +dataset_uuid: f0646cce-c5d2-49eb-a1d1-fd59504f66e8 +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 199 + total_frames: 278795 + fps: 30 + total_tasks: 1 + total_videos: 597 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 7.90 GB +frame_num: 278795 +frame_range: 1M +dataset_size: 7.90 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_10_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:198 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_11.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_11.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a2c1e0042eb052675d48f1fbbb84466a84dd403 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_11.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_11 +dataset_uuid: c4c1a861-b919-4993-b0e0-623f7884f2bf +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 94 + total_frames: 130946 + fps: 30 + total_tasks: 1 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 3.72 GB +frame_num: 130946 +frame_range: 1M +dataset_size: 3.72 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_11_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (82 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:93 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_2.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7acf736cd5a3d1dfbfa38de19011e48f3967ec89 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_2.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_2 +dataset_uuid: 5414b3f5-e335-4d6a-b2bc-d12f46fcd0ad +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 199 + total_frames: 274111 + fps: 30 + total_tasks: 1 + total_videos: 597 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 7.79 GB +frame_num: 274111 +frame_range: 1M +dataset_size: 7.79 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_2_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:198 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_4.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2cf29f09b11535cebbee4ea6aaf2c398fc4ceea5 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_4.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_4 +dataset_uuid: 5334d16b-a354-4f0d-9619-7706642543ec +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 470 + total_frames: 180012 + fps: 30 + total_tasks: 1 + total_videos: 1410 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 4.06 GB +frame_num: 180012 +frame_range: 1M +dataset_size: 4.06 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_4_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (458 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:469 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_5.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c10392c0f1fd7116f3519f7410d8e592303eb541 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_5.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_5 +dataset_uuid: 9e788c06-c198-467f-9e4c-d0ec871c82ec +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 183 + total_frames: 258709 + fps: 30 + total_tasks: 1 + total_videos: 549 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 7.34 GB +frame_num: 258709 +frame_range: 1M +dataset_size: 7.34 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_5_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (171 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:182 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_8.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_8.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d1f8d9e8dc02df2ae622ffed5460a81ed72004d --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_8.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_8 +dataset_uuid: 1ece6ccc-5d19-4754-969c-989e5f96518a +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 180 + total_frames: 257866 + fps: 30 + total_tasks: 1 + total_videos: 540 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 7.26 GB +frame_num: 257866 +frame_range: 1M +dataset_size: 7.26 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_8_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (168 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:179 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_9.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_9.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8dfbf10866517eda87b23a51b454548adb88d101 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_9.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_box_storage_parcel_9 +dataset_uuid: 093671f0-21f8-4078-b398-ab277c8b2ed0 +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 200 + total_frames: 284641 + fps: 30 + total_tasks: 1 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 8.10 GB +frame_num: 284641 +frame_range: 1M +dataset_size: 8.10 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_9_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:199 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services.yaml b/dataset_info/Leju_Kuavo_4_hotel_services.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c79fadc714b7236c85bc5060ced8c7510fefc25e --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services.yaml @@ -0,0 +1,463 @@ +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: Leju_Kuavo_4_hotel_services +dataset_uuid: 7e08ee60-d3b2-41f4-8a1b-f6d8996352e4 +scene_type: + level1: Hotel + level2: Hotel Lobby + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: box + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- take out the card place it on the sensor for recognition and then transfer it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 484 + total_frames: 95188 + fps: 30 + total_tasks: 1 + total_videos: 1452 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 2.62 GB +frame_num: 95188 +frame_range: 100K +dataset_size: 2.62 GB +data_structure: 'Leju_Kuavo_4_hotel_services_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (472 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:483 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts.yaml b/dataset_info/Leju_Kuavo_4_moving_parts.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae8882465aa11b54a25d2911c6bc6333fcbb9c9b --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_moving_parts +dataset_uuid: 24ff6ad9-5b9c-4d72-95db-fdb5b24364c1 +scene_type: + level1: Industry + level2: Assembly Workshop + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: cabinet + color: null +- object_name: parts + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- take the parts from the cabinet and place them on the table. +sub_tasks: *id001 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 451 + total_frames: 677020 + fps: 30 + total_tasks: 1 + total_videos: 1353 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 18.67 GB +frame_num: 677020 +frame_range: 1M +dataset_size: 18.67 GB +data_structure: 'Leju_Kuavo_4_moving_parts_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (439 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:450 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_2.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c800e25f42347ff7035dc8ae533f513cab9c07b4 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_2.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_moving_parts_2 +dataset_uuid: 60eec6b6-7006-4134-87e7-23081099b4c7 +scene_type: + level1: Industry + level2: Assembly Workshop + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: cabinet + color: null +- object_name: parts + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- take the parts from the cabinet and place them on the table. +sub_tasks: *id001 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 457 + total_frames: 713194 + fps: 30 + total_tasks: 1 + total_videos: 1371 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 21.40 GB +frame_num: 713194 +frame_range: 1M +dataset_size: 21.40 GB +data_structure: 'Leju_Kuavo_4_moving_parts_2_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (445 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:456 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_3.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..26b0381df1347fde746e072a1b41a63d9cd42c7b --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_3.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_moving_parts_3 +dataset_uuid: 035ee9bf-c5be-4660-8122-958046a59fd7 +scene_type: + level1: Industry + level2: Assembly Workshop + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: cabinet + color: null +- object_name: parts + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- take the parts from the cabinet and place them on the table. +sub_tasks: *id001 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 459 + total_frames: 709461 + fps: 30 + total_tasks: 1 + total_videos: 1377 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 21.12 GB +frame_num: 709461 +frame_range: 1M +dataset_size: 21.12 GB +data_structure: 'Leju_Kuavo_4_moving_parts_3_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (447 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:458 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a86d1756b6c29d627657e01306942845fc4d52d1 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping +dataset_uuid: c818dd54-3fb7-49d1-983a-e16994c19d69 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 598 + total_frames: 424613 + fps: 30 + total_tasks: 1 + total_videos: 1794 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.49 GB +frame_num: 424613 +frame_range: 1M +dataset_size: 12.49 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (586 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:597 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_1.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e45a20c7344a20550df044c3bd60beb2886cf4f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_1.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_1 +dataset_uuid: 7ab51d84-7fa5-4275-855e-f47eca8db74e +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 595 + total_frames: 423981 + fps: 30 + total_tasks: 1 + total_videos: 1785 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.52 GB +frame_num: 423981 +frame_range: 1M +dataset_size: 12.52 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (583 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:594 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_10.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_10.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c6087235bd4449324746ebd74f2373abdda1069 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_10.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_10 +dataset_uuid: bb1e8c4e-c8d0-4f44-bd04-bddb287f21b8 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 588 + total_frames: 418913 + fps: 30 + total_tasks: 1 + total_videos: 1764 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.33 GB +frame_num: 418913 +frame_range: 1M +dataset_size: 12.33 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_10_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (576 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:587 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_11.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_11.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b6737ca24f9856670171e19b2d759c196e47f3fe --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_11.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_11 +dataset_uuid: a8968ed7-26fb-4d64-b4ad-6571199e04e3 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 600 + total_frames: 428981 + fps: 30 + total_tasks: 1 + total_videos: 1800 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.65 GB +frame_num: 428981 +frame_range: 1M +dataset_size: 12.65 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_11_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (588 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:599 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_12.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_12.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ea5253ee8685021ce29fbd8531583c2324f0a53 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_12.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_12 +dataset_uuid: 39690a8b-4c90-45db-8b90-d7f1a95ae122 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 602 + total_frames: 439405 + fps: 30 + total_tasks: 1 + total_videos: 1806 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.91 GB +frame_num: 439405 +frame_range: 1M +dataset_size: 12.91 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_12_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (590 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:601 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_13.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_13.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b18212a772717841cf956910726083e10cc2796 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_13.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_13 +dataset_uuid: 85b45808-e1e1-4209-bf9b-fd2238865cdb +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 602 + total_frames: 417768 + fps: 30 + total_tasks: 1 + total_videos: 1806 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.32 GB +frame_num: 417768 +frame_range: 1M +dataset_size: 12.32 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_13_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (590 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:601 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_14.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1fd1778730def0186cf225d6dbd260f513e4a537 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_14.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_14 +dataset_uuid: 43124baf-11e2-4742-9f28-800bba99befd +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 613 + total_frames: 433637 + fps: 30 + total_tasks: 1 + total_videos: 1839 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.75 GB +frame_num: 433637 +frame_range: 1M +dataset_size: 12.75 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_14_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (601 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:612 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_15.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_15.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2a5219d53d1e924cd558986c8b4df8756deaac1 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_15.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_15 +dataset_uuid: d6488f7b-9863-4b1d-8743-d856b26dcaf4 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 605 + total_frames: 436674 + fps: 30 + total_tasks: 1 + total_videos: 1815 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.86 GB +frame_num: 436674 +frame_range: 1M +dataset_size: 12.86 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_15_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (593 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:604 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_17.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_17.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f1e83956abe713b8b77388b7beed870986acf37f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_17.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_17 +dataset_uuid: 9291abd8-2917-4c6e-85c1-dc8ce1242331 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 604 + total_frames: 426815 + fps: 30 + total_tasks: 1 + total_videos: 1812 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.60 GB +frame_num: 426815 +frame_range: 1M +dataset_size: 12.60 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_17_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (592 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:603 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_18.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_18.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e076f4a12babe39139a9671d15b348a5efb34d4b --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_18.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_18 +dataset_uuid: 5910a52f-ab13-424c-9e2a-1cd3dfc1c064 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 612 + total_frames: 426759 + fps: 30 + total_tasks: 1 + total_videos: 1836 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.54 GB +frame_num: 426759 +frame_range: 1M +dataset_size: 12.54 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_18_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (600 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:611 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_19.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_19.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3f548064b07240b358b51b5d080af5b862618b56 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_19.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_19 +dataset_uuid: 3b494b65-fc29-44e0-8873-85b39c208948 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 207 + total_frames: 145917 + fps: 30 + total_tasks: 1 + total_videos: 621 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 4.30 GB +frame_num: 145917 +frame_range: 1M +dataset_size: 4.30 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_19_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (195 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:206 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_2.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ec3b1ff8216206a078d4581069292d881feace40 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_2.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_2 +dataset_uuid: dfdca3a0-291c-4fd0-a906-d3fdd6851b3c +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 595 + total_frames: 439233 + fps: 30 + total_tasks: 1 + total_videos: 1785 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.89 GB +frame_num: 439233 +frame_range: 1M +dataset_size: 12.89 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_2_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (583 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:594 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_3.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee904311e64c51105fb174c5406bfbdf1c749e87 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_3.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_3 +dataset_uuid: 09e68ade-e21f-46ab-a611-dd274c0e0243 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 604 + total_frames: 420324 + fps: 30 + total_tasks: 1 + total_videos: 1812 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.38 GB +frame_num: 420324 +frame_range: 1M +dataset_size: 12.38 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_3_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (592 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:603 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_5.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bded87d8b15a098b97c57122f5de119079fc81f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_5.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_5 +dataset_uuid: 79c661d3-3dcb-42a1-ac42-01fd307fd87e +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 608 + total_frames: 439425 + fps: 30 + total_tasks: 1 + total_videos: 1824 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.95 GB +frame_num: 439425 +frame_range: 1M +dataset_size: 12.95 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_5_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (596 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:607 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_6.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_6.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ec81fffd7065f810df6e959b94b36f2da5beeaa2 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_6.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_6 +dataset_uuid: 174d3fde-59af-417e-b827-5407dcb1219b +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 628 + total_frames: 448824 + fps: 30 + total_tasks: 1 + total_videos: 1884 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 13.24 GB +frame_num: 448824 +frame_range: 1M +dataset_size: 13.24 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_6_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (616 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:627 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_7.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_7.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4da7da0dd1ccf140853e70a94b5a8afc1bbc83f0 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_7.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_7 +dataset_uuid: 3ffb1c0b-c634-44d7-b332-c1568bf1cb44 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 595 + total_frames: 420526 + fps: 30 + total_tasks: 1 + total_videos: 1785 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.42 GB +frame_num: 420526 +frame_range: 1M +dataset_size: 12.42 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_7_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (583 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:594 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_8.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_8.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae069ac0c92990ded3b31d6b918b32efbebdb96b --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_8.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_8 +dataset_uuid: ce74817a-2fe2-4ef0-9a8b-7deadd3bb202 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 615 + total_frames: 426101 + fps: 30 + total_tasks: 1 + total_videos: 1845 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.57 GB +frame_num: 426101 +frame_range: 1M +dataset_size: 12.57 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_8_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (603 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:614 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_9.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_9.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c62a4040c770fe83d81344656350a1a5e98df98 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_9.yaml @@ -0,0 +1,461 @@ +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: Leju_Kuavo_4_sensor_card_swiping_9 +dataset_uuid: c6909a2e-098b-4f14-a76d-2d208d667d44 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + 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 +statistics: + total_episodes: 209 + total_frames: 148101 + fps: 30 + total_tasks: 1 + total_videos: 627 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 4.34 GB +frame_num: 148101 +frame_range: 1M +dataset_size: 4.34 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_9_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.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 + + | `-- ... (197 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + `-- info.yaml' +splits: + train: 0:208 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + 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 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + 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_arm_joint_7_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_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_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 + - 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 + - head_joint_1_rad + - head_joint_2_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 + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + 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 +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_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/doc_assets/issue/issues.yaml b/doc_assets/issue/issues.yaml index bc48857e325d709747a4d140405a3a7e8f3a844b..740dbddcd7ea2c1c125d4b52b90c5dfe78c6872f 100644 --- a/doc_assets/issue/issues.yaml +++ b/doc_assets/issue/issues.yaml @@ -2,23 +2,23 @@ meta: resource: issue version: "1.2" items: - - id: "issue-20260415-001" - date: "2026-04-15" + - id: "issue-20260706-001" + date: "2026-07-06" title: zh: "RoboCOIN 数据集回复" en: "RoboCOIN Dataset Response" content: zh: |
    -
  1. 后续发布的数据集将逐步补充并完善相机内参信息。
    2. -
  2. 深度图像数据已纳入后续迭代规划，敬请关注后续更新。
    3. -
  3. 针对现有部分原子动作标注表述不清晰的问题，项目组将统一优化动作术语，确保同一数据集内同类动作采用一致的标准描述。
    4. +
  4. AI2_Alphabot机型的数据集已内置相机内参信息。
    5. +
  5. AI2_Alphabot机型配套的深度图像数据正在筹备，后续将开放提供。
    6. +
  6. 项目组已完成动作术语统一优化，同一数据集内的同类动作均采用标准化统一描述。
en: |
    -
  1. Future dataset releases will gradually add and improve camera intrinsic parameters.
    2. -
  2. Depth image data has been included in the upcoming iteration roadmap. Please stay tuned for future updates.
    3. -
  3. To address unclear wording in some existing atomic action annotations, the project team will standardize and refine action terminology to ensure consistent descriptions for the same action types within each dataset.
    4. +
  4. The camera intrinsic parameters have been added to the AI2_Alphabot dataset.
    5. +
  5. Depth image data for the AI2_Alphabot platform is currently under preparation and will be made available soon.
    6. +
  6. The project team has completed the standardization and optimization of action terminology, ensuring consistent descriptions for the same action types within each dataset.
status: "open" committed_by: "RoboCOIN Team" diff --git a/doc_assets/news/news.yaml b/doc_assets/news/news.yaml index bb0f8cdb2363c12f2c6fe60ed2579f2dbe907526..81f05cab2389cc5d713ddf2db04257340a0d3f74 100644 --- a/doc_assets/news/news.yaml +++ b/doc_assets/news/news.yaml @@ -2,21 +2,19 @@ meta: resource: news version: "1.2" items: - - id: "news-20260415-001" - date: "2026-04-15" + - id: "news-20260706-001" + date: "2026-07-06" title: - zh: "RoboCOIN 新发布 200+ 数据集，开放下载助力具身智能研究" - en: "RoboCOIN Released 200+ New Datasets to Advance Embodied AI Research" + zh: "RoboCOIN 新发布 100 + 数据集，开放下载助力具身智能研究" + en: "RoboCOIN Released 100+ New Datasets to Advance Embodied AI Research" content: zh: | -

RoboCOIN 预计每月发布一次高质量双臂机器人操作数据集。

-

2026 年 3 月成功发布 200+ 高质量数据集，涵盖多种场景、任务和机器人平台（Aloha / Airbot_MMK2 / Galaxea / Unitree）的操作数据。

+

2026 年 6 月成功发布 100+ 高质量数据集，涵盖多种场景、任务和机器人平台（Aloha / Airbot_MMK2 / Galaxea / Unitree / AI2_Alphabot / Leju_Kuavo）的操作数据。

这些数据集包含多视角视觉观察、机器人状态与动作数据，适用于双臂操作学习、多模态感知与控制等具身智能研究方向。

-

截至今日，累积数据集下载量已突破 400 万次，持续为全球具身智能研究提供高质量数据支撑。

+

截至今日，累积数据集下载量已突破 900 万次，持续为全球具身智能研究提供高质量数据支撑。

en: | -

RoboCOIN plans to release high-quality dual-arm robot manipulation datasets on a monthly basis.

-

In March 2026, we successfully released 200+ high-quality datasets covering diverse scenarios, tasks, and robot platforms (Aloha / Airbot_MMK2 / Galaxea / Unitree).

+

In June 2026, we successfully released 100+ high-quality datasets covering diverse scenarios, tasks, and robot platforms (Aloha / Airbot_MMK2 / Galaxea / Unitree / AI2_Alphabot / Leju_Kuavo).

These datasets include multi-view visual observations, robot states, and action data, and are suitable for embodied AI research topics such as dual-arm manipulation learning, multimodal perception, and control.

-

As of today, cumulative dataset downloads have exceeded 4 million, continuously providing high-quality data support for the global embodied AI community.

+

As of today, cumulative dataset downloads have exceeded 9 million, continuously providing high-quality data support for the global embodied AI community.

status: "published" committed_by: "RoboCOIN Team" diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json index b8617dc6e0ad7767a66922ce5a71573fe5197b3d..6d29484764e169380396e3c84654e9d269525831 100644 --- a/info/consolidated_datasets.json +++ b/info/consolidated_datasets.json @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:afd6f067aa3d4271271ce70118ae3ec2155331bd1204be5c23295e45cb908724 -size 11792233 +oid sha256:a6172319c8440c40f4cc500c6106c0e52781a4a06845ec5ea6b279f19f69a563 +size 12360407 diff --git a/info/data_index.json b/info/data_index.json index 430767708e050d98a4c10650d679d9696f686cde..e985effa8278e1fcd2f3cb26cdb4c4a0514bbbce 100644 --- a/info/data_index.json +++ b/info/data_index.json @@ -3,7 +3,9 @@ "AI2_Alphabot_2_arrange_teaset", "AI2_Alphabot_2_carry_the_clothes_basket", "AI2_Alphabot_2_clink_glasses", + "AI2_Alphabot_2_grind_ink", "AI2_Alphabot_2_heat_test_tube", + "AI2_Alphabot_2_insert_hose_into_hole", "AI2_Alphabot_2_insert_straw", "AI2_Alphabot_2_insert_water_pipe", "AI2_Alphabot_2_item_reversal", @@ -15,6 +17,8 @@ "AI2_Alphabot_2_organize_cosmetics", "AI2_Alphabot_2_organize_lab_equipment", "AI2_Alphabot_2_organize_pencil_holder", + "AI2_Alphabot_2_organize_toys_5", + "AI2_Alphabot_2_package_fruit", "AI2_Alphabot_2_pass_the_sandbag", "AI2_Alphabot_2_pick_stirring_rod", "AI2_Alphabot_2_pick_test_tube", @@ -22,6 +26,7 @@ "AI2_Alphabot_2_place_Tapes", "AI2_Alphabot_2_place_pen", "AI2_Alphabot_2_pour_liquid", + "AI2_Alphabot_2_pour_mung_beans", "AI2_Alphabot_2_pour_water", "AI2_Alphabot_2_press_the_button_a", "AI2_Alphabot_2_press_the_button_b", @@ -32,6 +37,7 @@ "AI2_Alphabot_2_sort_angle_iron", "AI2_Alphabot_2_sort_garbage_bag_and_box", "AI2_Alphabot_2_sort_personal_care_items", + "AI2_Alphabot_2_sort_utensils", "AI2_Alphabot_2_sort_warehouse", "AI2_Alphabot_2_stack_building_blocks", "AI2_Alphabot_2_stack_cups", @@ -41,7 +47,9 @@ "AI2_Alphabot_2_stir_water", "AI2_Alphabot_2_store_toys", "AI2_Alphabot_2_test_data_cable", + "AI2_Alphabot_2_tidy_countertop", "AI2_Alphabot_2_unplug_data_cable", + "AI2_Alphabot_2_write_text", "Agilex_Cobot_Magic_basket_storage_banana", "Agilex_Cobot_Magic_basket_storage_bread", "Agilex_Cobot_Magic_basket_storage_egg_yolk_pastry", @@ -539,6 +547,14 @@ "Galbot_G1_steamer_storage_baozi_i", "Galbot_G1_steamer_storage_baozi_j", "Leju_Kuavo_4_box_storage_parcel", + "Leju_Kuavo_4_box_storage_parcel_1", + "Leju_Kuavo_4_box_storage_parcel_10", + "Leju_Kuavo_4_box_storage_parcel_11", + "Leju_Kuavo_4_box_storage_parcel_2", + "Leju_Kuavo_4_box_storage_parcel_4", + "Leju_Kuavo_4_box_storage_parcel_5", + "Leju_Kuavo_4_box_storage_parcel_8", + "Leju_Kuavo_4_box_storage_parcel_9", "Leju_Kuavo_4_box_storage_parcel_a", "Leju_Kuavo_4_box_storage_parcel_b", "Leju_Kuavo_4_box_storage_parcel_c", @@ -548,6 +564,7 @@ "Leju_Kuavo_4_box_storage_parcel_h", "Leju_Kuavo_4_box_storage_parcel_i", "Leju_Kuavo_4_box_storage_parcel_j", + "Leju_Kuavo_4_hotel_services", "Leju_Kuavo_4_hotel_services_a", "Leju_Kuavo_4_hotel_services_aa", "Leju_Kuavo_4_hotel_services_ab", @@ -564,6 +581,9 @@ "Leju_Kuavo_4_hotel_services_f", "Leju_Kuavo_4_hotel_services_h", "Leju_Kuavo_4_hotel_services_i", + "Leju_Kuavo_4_moving_parts", + "Leju_Kuavo_4_moving_parts_2", + "Leju_Kuavo_4_moving_parts_3", "Leju_Kuavo_4_moving_parts_a", "Leju_Kuavo_4_moving_parts_b", "Leju_Kuavo_4_moving_parts_c", @@ -587,6 +607,24 @@ "Leju_Kuavo_4_pass_the_cleaner_c", "Leju_Kuavo_4_pass_the_cleaner_d", "Leju_Kuavo_4_pass_the_cleaner_e", + "Leju_Kuavo_4_sensor_card_swiping", + "Leju_Kuavo_4_sensor_card_swiping_1", + "Leju_Kuavo_4_sensor_card_swiping_10", + "Leju_Kuavo_4_sensor_card_swiping_11", + "Leju_Kuavo_4_sensor_card_swiping_12", + "Leju_Kuavo_4_sensor_card_swiping_13", + "Leju_Kuavo_4_sensor_card_swiping_14", + "Leju_Kuavo_4_sensor_card_swiping_15", + "Leju_Kuavo_4_sensor_card_swiping_17", + "Leju_Kuavo_4_sensor_card_swiping_18", + "Leju_Kuavo_4_sensor_card_swiping_19", + "Leju_Kuavo_4_sensor_card_swiping_2", + "Leju_Kuavo_4_sensor_card_swiping_3", + "Leju_Kuavo_4_sensor_card_swiping_5", + "Leju_Kuavo_4_sensor_card_swiping_6", + "Leju_Kuavo_4_sensor_card_swiping_7", + "Leju_Kuavo_4_sensor_card_swiping_8", + "Leju_Kuavo_4_sensor_card_swiping_9", "Realman_RMC-AIDA-L_arrange_flower", "Realman_RMC-AIDA-L_basket_storage_banana", "Realman_RMC-AIDA-L_basket_storage_egg_yolk_pastry", @@ -704,5 +742,5 @@ "Unitree_G1edu-u3_stack_bowls", "Unitree_G1edu-u3_tray_storage_lemon_a" ], - "count": 703 + "count": 741 } \ No newline at end of file diff --git a/info/download_stats.json b/info/download_stats.json index f6c2757d63667f7f35947c6f0fa741618da9297d..b771c774eda28e05c3b545d01284a88f6c20f949 100644 --- a/info/download_stats.json +++ b/info/download_stats.json @@ -1,5147 +1,5971 @@ { - "last_updated": "2026-07-02T16:00:11.432449", + "last_updated": "2026-07-06T10:41:28.082879", "huggingface": { "org_name": "RoboCOIN", - 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